Robotic Device with Compact Joint Design and an Additional Degree of Freedom and Related Systems and Methods

ABSTRACT

The embodiments disclosed herein relate to various robotic and/or in vivo medical devices having compact joint configurations and at least three degrees of freedom. Other embodiments relate to various medical device components, including forearms having grasper or cautery end effectors, that can be incorporated into certain robotic and/or in vivo medical devices.

CROSS-REFERENCE TO RELATED APPLICATION(S)

This application claims priority as a continuation of U.S. applicationSer. No. 15/691,087, filed Aug. 30, 2017, and entitled “Robotic Devicewith Compact Joint Design and an Additional Degree of Freedom andRelated Systems and Methods,” which claims the benefit under 35 U.S.C. §119(e) to U.S. Provisional Application 62/381,299, filed Aug. 30, 2016,and entitled “Robotic Device with Compact Joint Design and an AdditionalDegree of Freedom and Related Systems and Methods, all of which arehereby incorporated herein by reference in their entireties.

GOVERNMENT SUPPORT

This invention was made with government support under Grant No.W81XWH-08-02-0043, awarded by the U.S. Army Medical Research andMateriel Command; Grant No. W81XWH-09-2-0185, awarded by the U.S. ArmyMedical Research and Materiel Command; Grant No. DGE1041000, awarded bythe National Science Foundation; and Grant Nos. NNX09A071A andNNX10AJ26G, awarded by the National Aeronautics and SpaceAdministration. The government has certain rights in the invention.

FIELD OF THE INVENTION

The embodiments disclosed herein relate to various medical devices andrelated components, including robotic and/or in vivo medical devices andrelated components, such as arms and end effectors, having a compactjoint design. More specifically, certain embodiments include variousrobotic medical devices, including robotic devices that are disposedwithin a body cavity and/or disposed through an orifice or opening inthe body cavity with such a compact joint design that results in threedegrees of freedom. Additional embodiments relate to various roboticdevice arms and/or medical device operational components, often referredto as “end effectors.” Certain arm and/or end effector embodimentsdisclosed herein relate to forearms having grasper and/or cautery endeffectors. Further embodiments relate to methods of operating the abovedevices and operational components.

BACKGROUND OF THE INVENTION

Invasive surgical procedures are essential for addressing variousmedical conditions. When possible, minimally invasive procedures such aslaparoscopy are preferred.

However, known minimally invasive technologies such as laparoscopy arelimited in scope and complexity due in part to 1) mobility restrictionsresulting from using rigid tools inserted through access ports, and 2)limited visual feedback. Known robotic systems such as the da Vince®Surgical System (available from Intuitive Surgical, Inc., located inSunnyvale, Calif.) are also restricted by the access ports, as well ashaving the additional disadvantages of being very large, very expensive,unavailable in most hospitals, and having limited sensory and mobilitycapabilities.

There is a need in the art for improved surgical methods, systems, anddevices, including improved robotic arms and end effectors for use withthe devices.

BRIEF SUMMARY OF THE INVENTION

Discussed herein are various robotic devices having a compact jointdesign that results from the configuration of the internal componentsand allows for three degrees of freedom in the arm or other componentextending from the compact joint. Also discussed herein are various armsand/or end effectors that can be used with the robotic devices disclosedherein or other known robotic devices.

In Example 1, a robotic device comprises an elongate device body, afirst shoulder joint, and a first arm operably coupled to the firstshoulder joint. The elongate device body comprises a first driveshaftrotatably disposed within the device body (the first driveshaft having afirst lumen defined along a length of the first driveshaft), a seconddriveshaft rotatably disposed within the first lumen (the seconddriveshaft having a second lumen defined along a length of the seconddriveshaft), and a third driveshaft rotatably disposed within the secondlumen. The first shoulder joint comprises a conversion body operablycoupled to at least one of the first, second, or third driveshafts, anda rotation body rotatable in relation to the conversion body.

Example 2 relates to the robotic device according to Example 1, whereinthe conversion body is a yoke body comprises a yoke shaft extending fromthe yoke body, wherein a longitudinal axis of the yoke shaft istransverse to a longitudinal axis of the first driveshaft, and a yokeopening defined in the yoke shaft.

Example 3 relates to the robotic device according to Example 2, whereinthe first driveshaft is operably coupled to the first drive gear andwherein the third driveshaft is rotatably disposed through the yokeopening, the third driveshaft being operably coupled to the third drivegear.

Example 4 relates to the robotic device according to Example 3, whereinthe first and third drive gears are rotatably coupled to the rotationbody.

Example 5 relates to the robotic device according to Example 1, whereinthe second driveshaft is operably coupled to the second drive gear,wherein the second drive gear is rotatably coupled to a first shouldergear, wherein the first shoulder gear is operably coupled to a secondshoulder gear through a first opening in the rotation body, wherein thesecond shoulder gear is rotatably coupled to a third shoulder gear,wherein the third shoulder gear is operably coupled to a fourth shouldergear through a second opening in the rotation body, wherein the fourthshoulder gear is rotatably coupled to an output gear.

Example 6 relates to the robotic device according to Example 1, whereinthe conversion body is a shoulder housing comprising a top openingdefined in the shoulder housing, the top opening comprising at least onecoupling feature, and a side opening defined in the shoulder housing.

Example 7 relates to the robotic device according to Example 6, whereinthe first driveshaft is operably coupled to the at least one couplingfeature on the shoulder housing, whereby rotation of the firstdriveshaft causes rotation of the shoulder housing.

Example 8 relates to the robotic device according to Example 7, whereinthe second driveshaft is disposed through the top opening in theshoulder housing and operably coupled to a second drive gear, whereinthe second drive gear is disposed within a cavity in the shoulderhousing.

Example 9 relates to the robotic device according to Example 8, whereinthe second drive gear is rotatably coupled to a first shoulder gear,wherein the first shoulder gear is operably coupled to the rotationbody.

Example 10 relates to the robotic device according to Example 6, whereinthe third driveshaft is disposed through the top opening in the shoulderhousing and operably coupled to a third drive gear, wherein the thirddrive gear is disposed within a cavity in the shoulder housing.

Example 11 relates to the robotic device according to Example 10,wherein the third drive gear is rotatably coupled to a second shouldergear, wherein the second shoulder gear is operably coupled to a thirdshoulder gear through a first opening in the rotation body, wherein thethird shoulder gear is rotatably coupled to a fourth shoulder gear,wherein the fourth shoulder gear is operably coupled to a fifth shouldergear through a second opening in the rotation body, wherein the fifthshoulder gear is rotatably coupled to an output gear.

In Example 12, a robotic device comprises an elongate device body sizedand constructed to be disposable through a port or an incision into acavity of a patient, a first shoulder joint, and a first arm operablycoupled to the output gear. The elongate device body comprises a firstdriveshaft rotatably disposed within the device body, the firstdriveshaft comprising a first lumen extending along a length of thefirst driveshaft, a second driveshaft rotatably disposed within thefirst lumen such that the second driveshaft is disposed within andcoaxial with the first driveshaft, the second driveshaft comprising asecond lumen extending along a length of the second driveshaft, and athird driveshaft rotatably disposed within the second lumen such thatthe third driveshaft is disposed within and coaxial with the seconddriveshaft. The first shoulder joint comprises a conversion bodyoperably coupled to at least one of the first, second, or thirddriveshafts, a rotation body rotatable in relation to the conversionbody, and an output gear operably coupled with the rotation body,wherein the output gear is rotatable around an axis parallel to alongitudinal axis of the first driveshaft.

Example 13 relates to the robotic device according to Example 12,wherein the first driveshaft is operably coupled to a first drive gearand wherein the third driveshaft is rotatably disposed through anopening in the conversion body, the third driveshaft being operablycoupled to a third drive gear.

Example 14 relates to the robotic device according to Example 13,wherein the first and third drive gears are rotatably coupled to therotation body.

Example 15 relates to the robotic device according to Example 12,wherein the second driveshaft is operably coupled to the second drivegear, wherein the second drive gear is operably coupled to an outputgear via at least one shoulder gear.

Example 16 relates to the robotic device according to Example 12,wherein the first driveshaft is operably coupled to the conversion body,whereby rotation of the first driveshaft causes rotation of theconversion body.

Example 17 relates to the robotic device according to Example 12,wherein the second driveshaft is operably coupled to a second drivegear, wherein the second drive gear is rotatably coupled to a firstshoulder gear, wherein the first shoulder gear is operably coupled tothe rotation body.

Example 18 relates to the robotic device according to Example 12,wherein the third driveshaft is operably coupled to a third drive gear,wherein the third drive gear is operably coupled to an output gear viaat least one shoulder gear.

In Example 19, a robotic device comprises an elongate device body sizedand constructed to be disposable through a port or an incision into acavity of a patient, a first shoulder joint, and a first arm operablycoupled to the first shoulder joint. The elongate device body comprisesa first drivetrain, a second drivetrain, and a third drivetrain. Thefirst drivetrain comprises a first motor, and a first driveshaftoperably coupled to the first motor, the first driveshaft rotatablydisposed within the device body, the first driveshaft comprising a firstlumen extending along a length of the first driveshaft. The seconddrivetrain comprises a second motor, and a second driveshaft operablycoupled to the second motor, the second driveshaft rotatably disposedwithin the first lumen such that the second driveshaft is disposedwithin and coaxial with the first driveshaft, the second driveshaftcomprising a second lumen extending along a length of the seconddriveshaft. The third drivetrain comprises a third motor, and a thirddriveshaft operably coupled to the third motor, the third driveshaftrotatably disposed within the second lumen such that the thirddriveshaft is disposed within and coaxial with the second driveshaft.The first shoulder joint comprises a conversion body operably coupled toat least one of the first, second, or third driveshafts, and a rotationbody rotatable in relation to the conversion body.

While multiple embodiments are disclosed, still other embodiments of thepresent invention will become apparent to those skilled in the art fromthe following detailed description, which shows and describesillustrative embodiments of the invention. As will be realized, theinvention is capable of modifications in various obvious aspects, allwithout departing from the spirit and scope of the present invention.Accordingly, the drawings and detailed description are to be regarded asillustrative in nature and not restrictive.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A is a perspective view of a robotic device, according to oneembodiment.

FIG. 1B is a perspective view of the motor section of the robotic deviceof FIG. 1A, according to one embodiment.

FIG. 2 is a cross-sectional front view of the device body of the roboticdevice of FIG. 1A, according to one embodiment.

FIG. 3A is a cross-sectional front view of a portion of the device bodyof the robotic device of FIG. 1, according to one embodiment.

FIG. 3B is a perspective view of certain internal components of thedevice body of the robotic device of FIG. 1, according to oneembodiment.

FIG. 3C is a cross-sectional bottom view of certain internal componentsof the device body of the robotic device of FIG. 1, according to oneembodiment.

FIG. 3D is a bottom view of certain internal components of the devicebody of the robotic device of FIG. 1, according to one embodiment.

FIG. 3E is a side view of certain internal components of the device bodyof the robotic device of FIG. 1, according to one embodiment.

FIG. 4A is a cross-sectional front view of a portion of the device bodyof the robotic device of FIG. 1, according to one embodiment.

FIG. 4B is a perspective view of various components of the rightshoulder joint of the robotic device of FIG. 1, according to oneembodiment.

FIG. 5A is a perspective view of an arm of a robotic device, accordingto one embodiment.

FIG. 5B is a side view of one of the arms of FIG. 5A, according to oneembodiment.

FIG. 6A is a side view of an upper arm of a robotic device, according toone embodiment.

FIG. 6B is a cross-sectional side view of the upper arm of FIG. 6A,according to one embodiment.

FIG. 6C is a cross-sectional side view of a portion of the upper arm ofFIG. 6A, according to one embodiment.

FIG. 6D is a perspective view of the upper arm of FIG. 6A, according toone embodiment.

FIG. 7 is a side view of a forearm of a robotic device, according to oneembodiment.

FIG. 8A is a perspective view of an elbow joint, according to oneembodiment.

FIG. 8B is a cross-sectional view of the elbow joint of FIG. 8A,according to one embodiment.

FIG. 9A is a perspective view of an end effector, according to oneembodiment.

FIG. 9B is a side view of the end effector of FIG. 9A, according to oneembodiment.

FIG. 9C is a cross-sectional side view of the end effector of FIG. 9A,according to one embodiment.

FIG. 10A is a perspective view of a distal portion of the forearm ofFIG. 7, according to one embodiment.

FIG. 10B is a different perspective view of a distal portion of theforearm of FIG. 10A, according to one embodiment.

FIG. 100 is a cross-sectional side view of the distal portion of theforearm of FIG. 10A, according to one embodiment.

FIG. 11A is a perspective view of certain internal components of thedistal portion of the forearm of FIG. 10, including certain motors andgears therein, according to one embodiment.

FIG. 11B is a perspective cross-sectional view of certain internalcomponents of the distal portion of the forearm of FIG. 10, according toone embodiment.

FIG. 11C is a perspective view of certain internal components of thedistal portion of the forearm of FIG. 10, including certain motorstherein, according to one embodiment.

FIG. 12A is a perspective view of various components of anotherembodiment of a right shoulder joint, according to one embodiment.

FIG. 12B is a cross-sectional side view of various components of theright shoulder joint of FIG. 12A, according to one embodiment.

FIG. 13 is a cross-sectional side view of a joint for a robotic device,according to a further embodiment.

FIG. 14A is a side view of various components of the joint of FIG. 13,according to one embodiment.

FIG. 14B is a side view of various components of the joint of FIG. 13,according to one embodiment.

FIG. 15A is a cross-sectional side view of a joint for a robotic device,according to another embodiment.

FIG. 15B is a cross-sectional perspective view of the joint of FIG. 15A,according to another embodiment.

FIG. 16A is a perspective view of the joint of FIG. 15A, according toanother embodiment.

FIG. 16B is a perspective view of the joint of FIG. 15A, according toanother embodiment.

FIG. 17A is a side view of certain components of the joint of FIG. 15A,according to another embodiment.

FIG. 17B is a side view of certain components of the joint of FIG. 15A,according to another embodiment.

FIG. 17C is a side view of certain components of the joint of FIG. 15A,according to another embodiment.

FIG. 17D is a side view of certain components of the joint of FIG. 15A,according to another embodiment.

DETAILED DESCRIPTION

The various embodiments disclosed or contemplated herein relate tosurgical robotic devices, systems, and methods. More specifically,various embodiments relate to various medical devices, including roboticdevices and related methods and systems. Certain implementations relateto such devices for use in laparo-endoscopic single-site (LESS) surgicalprocedures. Further embodiments relate to certain robotic arms and/orend effectors that can used with the robotic devices, including grasperand/or cautery end effectors.

The robotic devices in these various implementations have a compactjoint design as set forth herein, and, in certain embodiments, the armor other component extending from the joint has at least three degreesof freedom. More specifically, these embodiments have compact shoulderjoints with each joint having three nested bevel gear sets that providethree intersecting degrees of freedom, as will be described inadditional detail herein. The compact nature of the device results fromthe three concentric driveshafts that are coupled to and drive the threebevel gear sets at each shoulder. Nesting the three driveshafts of eachshoulder within each other as will be described herein enables the threemotors that drive the driveshafts (and thus the three bevel gear sets ofeach shoulder) to be positioned axially along the length of the devicebody—away from the three gear sets—thereby resulting in a smalleroverall circumferential or radial size (width and thickness) of thedevice body since the motors and driveshafts do not need to bepositioned alongside the coupled bevel gear sets.

It is understood that the various embodiments of robotic devices andrelated methods and systems disclosed herein can be incorporated into orused with any other known medical devices, systems, and methods. Forexample, the various embodiments disclosed herein may be incorporatedinto or used with any of the medical devices and systems disclosed inU.S. Pat. No. 8,968,332 (issued on Mar. 3, 2015 and entitled“Magnetically Coupleable Robotic Devices and Related Methods”), U.S.Pat. No. 8,834,488 (issued on Sep. 16, 2014 and entitled “MagneticallyCoupleable Surgical Robotic Devices and Related Methods”), U.S. patentapplication Ser. No. 14/617,232 (filed on Feb. 9, 2015 and entitled“Robotic Surgical Devices and Related Methods”), U.S. Pat. No. 9,579,088(issued on Feb. 28, 2017 and entitled “Methods, Systems, and Devices forSurgical Visualization and Device Manipulation”), U.S. Pat. No.8,343,171 (issued on Jan. 1, 2013 and entitled “Methods and Systems ofActuation in Robotic Devices”), U.S. Pat. No. 8,828,024 (issued on Sep.9, 2014 and entitled “Methods and Systems of Actuation in RoboticDevices”), U.S. patent application Ser. No. 14/454,035 (filed Aug. 7,2014 and entitled “Methods and Systems of Actuation in RoboticDevices”), U.S. patent application Ser. No. 12/192,663 (filed Aug. 15,2008 and entitled Medical Inflation, Attachment, and Delivery Devicesand Related Methods”), U.S. patent application Ser. No. 15/018,530(filed Feb. 8, 2016 and entitled “Medical Inflation, Attachment, andDelivery Devices and Related Methods”), U.S. Pat. No. 8,974,440 (issuedon Mar. 10, 2015 and entitled “Modular and Cooperative Medical Devicesand Related Systems and Methods”), U.S. Pat. No. 8,679,096 (issued onMar. 25, 2014 and entitled “Multifunctional Operational Component forRobotic Devices”), U.S. Pat. No. 9,179,981 (issued on Nov. 10, 2015 andentitled “Multifunctional Operational Component for Robotic Devices”),U.S. patent application Ser. No. 14/936,234 (filed on Nov. 9, 2015 andentitled “Multifunctional Operational Component for Robotic Devices”),U.S. Pat. No. 8,894,633 (issued on Nov. 25, 2014 and entitled “Modularand Cooperative Medical Devices and Related Systems and Methods”), U.S.Pat. No. 8,968,267 (issued on Mar. 3, 2015 and entitled “Methods andSystems for Handling or Delivering Materials for Natural OrificeSurgery”), U.S. Pat. No. 9,060,781 (issued on Jun. 23, 2015 and entitled“Methods, Systems, and Devices Relating to Surgical End Effectors”),U.S. patent application Ser. No. 14/745,487 (filed on Jun. 22, 2015 andentitled “Methods, Systems, and Devices Relating to Surgical EndEffectors”), U.S. Pat. No. 9,089,353 (issued on Jul. 28, 2015 andentitled “Robotic Surgical Devices, Systems, and Related Methods”), U.S.patent application Ser. No. 14/800,423 (filed on Jul. 15, 2015 andentitled “Robotic Surgical Devices, Systems, and Related Methods”), U.S.patent application Ser. No. 13/573,849 (filed Oct. 9, 2012 and entitled“Robotic Surgical Devices, Systems, and Related Methods”), U.S. patentapplication Ser. No. 13/738,706 (filed Jan. 10, 2013 and entitled“Methods, Systems, and Devices for Surgical Access and Insertion”), U.S.patent application Ser. No. 13/833,605 (filed Mar. 15, 2013 and entitled“Robotic Surgical Devices, Systems, and Related Methods”), U.S. patentapplication Ser. No. 14/661,465 (filed Mar. 18, 2015 and entitled“Methods, Systems, and Devices for Surgical Access and Insertion”), U.S.Pat. No. 9,498,292 (issued on Nov. 22, 2016 and entitled “Single SiteRobotic Devices and Related Systems and Methods”), U.S. patentapplication Ser. No. 15/357,663 (filed Nov. 21, 2016 and entitled“Single Site Robotic Devices and Related Systems and Methods”), U.S.Pat. No. 9,010,214 (issued on Apr. 21, 2015 and entitled “Local ControlRobotic Surgical Devices and Related Methods”), U.S. patent applicationSer. No. 14/656,109 (filed on Mar. 12, 2015 and entitled “Local ControlRobotic Surgical Devices and Related Methods”), U.S. patent applicationSer. No. 14/208,515 (filed Mar. 13, 2014 and entitled “Methods, Systems,and Devices Relating to Robotic Surgical Devices, End Effectors, andControllers”), U.S. patent application Ser. No. 14/210,934 (filed Mar.14, 2014 and entitled “Methods, Systems, and Devices Relating to ForceControl Surgical Systems), U.S. patent application Ser. No. 14/212,686(filed Mar. 14, 2014 and entitled “Robotic Surgical Devices, Systems,and Related Methods”), U.S. patent application Ser. No. 14/334,383(filed Jul. 17, 2014 and entitled “Robotic Surgical Devices, Systems,and Related Methods”), U.S. patent application Ser. No. 14/853,477(filed Sep. 14, 2015 and entitled “Quick-Release End Effectors andRelated Systems and Methods”), U.S. patent application Ser. No.14/938,667 (filed Nov. 11, 2015 and entitled “Robotic Device withCompact Joint Design and Related Systems and Methods”), U.S. patentapplication Ser. No. 15/227,813 (filed Aug. 3, 2016 and entitled“Robotic Surgical Devices, Systems, and Related Methods”), U.S. patentapplication Ser. No. 15/599,231 (filed May 18, 2017 and entitled“Robotic Surgical Devices, Systems, and Related Methods”), U.S. patentapplication Ser. No. 15/687,113 (filed Aug. 25, 2017 and entitled“Quick-Release End Effector Tool Interface”), U.S. Patent Application62/425,149 (filed Nov. 22, 2016 and entitled “Improved Gross PositioningDevice and Related Systems and Methods”), U.S. Patent Application62/427,357 (filed Nov. 29, 2016 and entitled “Controller with UserPresence Detection and Related Systems and Methods”), U.S. PatentApplication 62/433,837 (filed Dec. 14, 2016 and entitled “ReleasableAttachment Device for Coupling to Medical Devices and Related Systemsand Methods”), and U.S. Pat. No. 7,492,116 (filed on Oct. 31, 2007 andentitled “Robot for Surgical Applications”), U.S. Pat. No. 7,772,796(filed on Apr. 3, 2007 and entitled “Robot for Surgical Applications”),and U.S. Pat. No. 8,179,073 (issued May 15, 2011, and entitled “RoboticDevices with Agent Delivery Components and Related Methods”), all ofwhich are hereby incorporated herein by reference in their entireties.

Certain device and system implementations disclosed in the applicationslisted above can be positioned within a body cavity of a patient incombination with the robotic arms and/or end effectors disclosed herein.An “in vivo device” as used herein means any device that can bepositioned, operated, or controlled at least in part by a user whilebeing positioned within a body cavity of a patient, including any devicethat is coupled to a support component such as a rod or other suchcomponent that is disposed through an opening or orifice of the bodycavity, also including any device positioned substantially against oradjacent to a wall of a body cavity of a patient, further including anysuch device that is internally actuated (having no external source ofmotive force), and additionally including any device that may be usedlaparoscopically or endoscopically during a surgical procedure. As usedherein, the terms “robot,” and “robotic device” shall refer to anydevice that can perform a task either automatically or in response to acommand.

Certain embodiments provide for insertion of the present invention intothe cavity while maintaining sufficient insufflation of the cavity.Further embodiments minimize the physical contact of the surgeon orsurgical users with the present invention during the insertion process.Other implementations enhance the safety of the insertion process forthe patient and the present invention. For example, some embodimentsprovide visualization of the present invention as it is being insertedinto the patient's cavity to ensure that no damaging contact occursbetween the system/device and the patient. In addition, certainembodiments allow for minimization of the incision size/length. Furtherimplementations reduce the complexity of the access/insertion procedureand/or the steps required for the procedure. Other embodiments relate todevices that have minimal profiles, minimal size, or are generallyminimal in function and appearance to enhance ease of handling and use.

Certain implementations disclosed herein relate to “combination” or“modular” medical devices that can be assembled in a variety ofconfigurations. For purposes of this application, both “combinationdevice” and “modular device” shall mean any medical device havingmodular or interchangeable components that can be arranged in a varietyof different configurations. The modular components and combinationdevices disclosed herein also include segmented triangular orquadrangular-shaped combination devices. These devices, which are madeup of modular components (also referred to herein as “segments”) thatare connected to create the triangular or quadrangular configuration,can provide leverage and/or stability during use while also providingfor substantial payload space within the device that can be used forlarger components or more operational components. As with the variouscombination devices disclosed and discussed above, according to oneembodiment these triangular or quadrangular devices can be positionedinside the body cavity of a patient in the same fashion as those devicesdiscussed and disclosed above.

An exemplary embodiment of a robotic device 10 is depicted in FIGS. 1Aand 1B. As best shown in FIG. 1A, the device 10 has an elongate devicebody 12, a right shoulder joint 14, and a left shoulder joint 16. Whileno arms are depicted in FIG. 1A, it is understood that a robotic arm orother component can be coupled to each of the right and left shoulderjoints 14, 16. The main body 12 has a motor section 12A and a shaftsection 12B, wherein the motors (discussed below) are disposed in themotor section 12A and the elongate driveshafts (discussed below) aredisposed in the shaft section 12B. In one embodiment, the controlelectronics 18 (circuit boards, processors, etc.) are disposed on anouter surface of the motor section 12A as best shown in both FIG. 1A andFIG. 1B. It is understood that, according to some implementations, acover (not shown) will be positioned over the top of the controlelectronics 18.

As will be discussed in additional detail below, each of the nested orcompact shoulder joints 14, 16 provides three intersecting degrees offreedom. As an example, the left shoulder joint 16 has threeintersecting degrees of freedom as shown in FIG. 1A. The first degree offreedom is depicted at arrow A, which represents rotation around theaxis 20 parallel to the longitudinal axis of the device body 12, whichcauses any arm (not shown) coupled to the shoulder 16 to rotate aboutthat axis 20, thereby moving left and right in relation to the devicebody 12 (“yaw”). The second degree of freedom is depicted at arrow B,which represents rotation around the axis 22 perpendicular to thelongitudinal axis of the device body 12, which causes any arm (notshown) coupled to the shoulder 16 to rotate about that axis 22, therebymoving “up and down” in relation to the device body 12 (“pitch”). Morespecifically, if the device body 12 were laid on a flat plane along itslongitudinal axis, the arm (not shown) would move into and out of theflat plane. The third degree of freedom is depicted at arrow C, whichrepresents rotation around the axis 24 that causes any arm (not shown)coupled to the shoulder 16 to rotate around it's own longitudinal axis(or “roll”). These three degrees of freedom are intersecting because allthree axes of rotation intersect at a single point 26, as shown in FIG.1A. While this description above relates to the left shoulder joint 16,it is understood that the right shoulder joint 14 also has substantiallythe same three intersecting degrees of freedom.

It should be noted that the third degree of freedom is not limited toactuating an arm to rotate on its own longitudinal axis. Instead, theform of actuation is determined based on the configuration of the armthat is coupled to the shoulder. In certain embodiments, the arm coupledto the shoulder is configured such that the rotation around the axis 24causes the arm to roll (rotate on its own axis). According to otherembodiments as will be described in further detail below, the armcoupled to the shoulder is configured such that the rotation around theaxis 24 actuates the elbow of the arm to rotate. In further embodiments,it is understood that the type of actuation that occurs as a result ofthe rotation around the axis 24 is limited only by the configuration ofthe arm coupled thereto.

FIG. 2 depicts a cross-sectional front view of the body 12 in whichcertain internal components of the body 12 are visible, according to oneexemplary embodiment. The body 12 has a right set of nested driveshafts40 and a left set of nested driveshafts 41, wherein both sets arerotatably disposed within the body 12. As set forth herein, the word“nested” is intended to describe components that are concentric suchthat at least one of the components is positioned inside another ofthose components and each of the components have a common axis ofrotation. In the remainder of this description of the body 12 and itscomponents, the description will focus on the right side of the body 12,the right set of nested driveshafts 40, and components coupled thereto.It is understood that the components of the left side of the body 12,the left set of nested driveshafts 41, the components coupled thereto,the relationship of those components to each other, and theirfunctionality is substantially similar to those components of the rightside of the body 12.

With respect to FIG. 2, the right set of nested driveshafts 40 is madeup of a first or outer driveshaft 40A, a second or middle driveshaft40B, and a third or inner driveshaft 40C. The right set of nesteddriveshafts 40 extend from the motor section 12A into and through theshaft section 12B as shown. The inner driveshaft 40C is rotatablydisposed within the middle driveshaft 40B as shown, and has a drivengear 42C fixedly or integrally attached at its proximal end. At itsdistal end, the inner driveshaft 40C is coupled to a third or lowerdrive bevel gear 44C. The middle driveshaft 40B is rotatably disposedwithin the outer driveshaft 40A as shown, and has a driven gear 42Bfixedly or integrally attached at its proximal end. At its distal end,the middle driveshaft 40B is coupled to a second or middle drive bevelgear 44B. The outer driveshaft 40A is rotatably disposed on the rightside of the body 12 and has a driven gear 42A fixedly or integrallyattached at its proximal end. At its distal end, the outer driveshaft40A is coupled to a first or upper drive bevel gear 44A. The right setof nested driveshafts 40 is supported at its proximal end by first setbearing 46 and at its distal end by second set bearing 48.

In accordance with one embodiment, the shaft section 12B is coupled tothe motor section 12A via two or more screws 60A, 60B or other knownattachment components or devices. In one embodiment, five screws likescrews 60A, 60B are used to couple the shaft 12B and motor 12A sections.

Expanded views of various internal components at the proximal end of thebody 12, including the proximal end of the driveshafts 40A, 40B, 40C andrelated gears and motors that drive those driveshafts 40A, 40B, 40C, aredepicted in FIGS. 3A-3E, according to one embodiment. As best shown inFIG. 3A, the proximal end of the inner driveshaft 40C, including thedriven gear 42C, is rotatably supported in the body 12 via a first shaftbearing 62 and a second shaft bearing 64. Further, the proximal end ofthe middle driveshaft 40B, including driven gear 42B, is rotatablysupported in the body 12 via the second shaft bearing 64 and a thirdshaft bearing 66. In addition, the proximal end of the outer driveshaft40A, including driven gear 42A, is rotatably supported in the body 12via the third shaft bearing 66 and the first set bearing 46.

As best shown in FIGS. 3B-3E, each of the sets of nested driveshafts 40,41 have three motors operably coupled thereto. More specifically, asbest shown in the side view of FIG. 3B, motor 80A has a motor drive gear82A that is coupled to the driven gear 42A (which is coupled to theouter driveshaft 40A). Further, motor 80B has a motor drive gear 82Bthat is coupled to the driven gear 42B (which is coupled to the middledriveshaft 40B). In addition, motor 80C has a motor drive gear 82C thatis coupled to the driven gear 42C (which is coupled to the innerdriveshaft 40C). Thus, in operation, the motor 80A can be actuated todrive rotation of the outer driveshaft 40A by driving rotation of motordrive gear 82A, which drives rotation of the driven gear 42A. Similarly,the motor 80B can be actuated to drive rotation of the middle driveshaft40B by driving rotation of motor drive gear 82B, which drives rotationof the driven gear 42B. In a similar fashion, the motor 80C can beactuated to drive rotation of the inner driveshaft 40C by drivingrotation of motor drive gear 82C, which drives rotation of the drivengear 42C.

FIGS. 3C and 3D provide a bottom view of the motors and driveshafts,according to one embodiment. More specifically, FIG. 3C depicts apartial cutaway bottom view of the motor section 12A, in which the outerbody of the motor section 12A has been removed on the right half of thesection 12A such that the left nested driveshaft shaft set 41 andcoupled motors are shown in the cutaway portion of the figure. As can beseen in this figure, the motor section 12A is configured such that theentire section 12A is mirrored across its centerline D as shown in thisembodiment. That is, the left side of the motor section 12A and theinternal components therein are a mirror image of the right side of thesection 12A and its components.

Further, FIG. 3D depicts a bottom view of the right nested driveshaftset 40 and coupled motors, 80A, 80B, 80C, thereby showing thearrangement of the motors 80A, 80B, 80C around the driveshaft set 40.

In one implementation as shown in FIG. 3E, the driveshafts 40A, 40B, 40Care coupled to potentiometers 86A, 86B, 86C that provide absoluteposition feedback relating to each driveshaft 40A, 40B, 40C. As shown,the driven gear 42A (of the outer driveshaft 40A) is coupled topotentiometer gear 84A, which is coupled to potentiometer 86A, whiledriven gear 42B (of the middle driveshaft 40B) is coupled topotentiometer gear 84B, which is coupled to potentiometer 86B.Similarly, driven gear 42C (of the inner driveshaft 40C) is coupled topotentiometer gear 84C, which is coupled to potentiometer 86C. Thepotentiometer gears 84A, 84B, 84C and potentiometers 86A, 86B, 86C arecoupled to a pin 88. In one embodiment, each of the potentiometers 86A,86B, 86C are single-turn potentiometers. Alternatively, these components86A, 86B, 86C can be any known sensors or meters for detecting ormonitoring position information.

FIGS. 4A and 4B depict the right shoulder joint 14 and its variouscomponents, according to one implementation. More specifically, FIG. 4Adepicts a cross-sectional front view of the internal components of boththe right 14 and 16 shoulder joints, while FIG. 4B depicts an explodedview of the internal components of the right shoulder joint 14. Asdiscussed above, and as shown in both FIGS. 4A and 4B, the outerdriveshaft 40A is coupled (or rotationally constrained) to the upperdrive bevel gear 44A, while the middle driveshaft 40B is coupled to themiddle drive bevel gear 44B, and the inner driveshaft 40C is coupled tothe lower drive bevel gear 44C. The outer driveshaft 40A and upper drivebevel gear 44A are supported by the second set bearing 48 and the firstshoulder bearing 100, wherein the first shoulder bearing 100 ispositioned within the distal end of the bevel gear 44A as best shown inFIG. 4A. The middle driveshaft 40B and the middle drive bevel gear 44Bare supported by the first shoulder bearing 100 and the second shoulderbearing 102, wherein the second shoulder bearing 102 is positionedwithin the distal end of the bevel gear 44B as best shown in FIG. 4A.

The right shoulder 14 also has a differential yoke (also referred to asa “shoulder housing” or “conversion body”) 104 (as does the leftshoulder 16). As best shown in FIG. 4B, the yoke 104 has a body 104A anda yoke shaft 104B, wherein the body 104A defines a yoke opening 104C.The yoke 104 as shown is configured to be positioned over the innerdriveshaft 40C such that the driveshaft 40C is positioned through theyoke opening 104C. The driveshaft 40C is rotatably supported within theyoke opening 104C by the third 106 and fourth 108 shoulder bearings,which are disposed within the opening 104C. As mentioned above, theinner driveshaft 40C is coupled to the lower drive bevel gear 44C. Thebevel gears 44A, 44B, 44C, the driveshafts 40A, 40B, 40C, and thebearings 100, 102, 106, 108 are coupled together and “preloaded” by thescrew 110 that is coupled to the inner driveshaft 40C. Alternatively,any known attachment component can be used to couple together andpreload these components.

Continuing with FIGS. 4A and 4B, the yoke shaft 104B is rotatablycoupled to a bevel gear body (also referred to as a “rotatable arm,”“rotatable body,” “rotation arm,” “rotation body,” “pitch arm,” or“pitch body”) 120. The bevel gear body 120 has two openings 120A, 120Bdefined therein, with a body bevel gear 120C disposed around one side ofthe opening 120A such that rotation of the bevel gear 120C causesrotation of the bevel gear body 120. The opening 120A is configured toreceive the yoke shaft 104B such that the yoke shaft 104B is positionedthrough the opening 120A. When the bevel gear body 120 is coupled to theyoke shaft 104B, an first inner bevel gear 122 is also positioned overthe yoke shaft 104B and is supported by a fifth shoulder bearing 124 anda sixth shoulder bearing 126, wherein the fifth shoulder bearing 124 isdisposed within the distal end of the bevel gear 122 and the sixthshoulder bearing 126 is disposed within the body bevel gear 120C.

It is understood that the rotation body 120 can be any component thathas two openings as described herein and can be coupled to the variouscomponents as described.

The first inner bevel gear 122 is operably coupled to a first spur gear130 such that rotation of the first inner bevel gear 122 causes rotationof the spur gear 130. The first spur gear 130 is also positioned overthe yoke shaft 104B, and the two gears 122, 130 are coupled togetherthrough the opening 120A in the bevel gear body 120. In one embodiment,the first inner bevel gear 122 has two projections 128A, 128B that matewith the spur gear 130 to couple the two gears 122, 130 together.Alternatively, any coupling component or mechanism can be used to couplethe two gears 122, 130 together. The first spur gear 130 is supported inpart by the sixth bearing 126 discussed above and further in part by aseventh shoulder bearing 132, which is disposed within the distal end ofthe spur gear 130. The bearings 124, 126, 132 all help to support thefirst inner bevel gear 122, the bevel gear body 120, and the first spurgear 130 such that all three (the bevel gear 122, body 120, and spurgear 130) are rotatable around the yoke shaft 104B. The bearings 124,126, 132 are preloaded by the countersunk screw 134, which is threadedinto a threaded lumen 135 at the end of the yoke shaft 104B.

The first spur gear 130 is rotatably coupled to a second spur gear 136such that rotation of the first spur gear 130 causes rotation of thesecond spur gear 136. The second spur gear 136 is positioned over ahorizontal shaft 138A of a gear linkage 138 (also referred to herein asan “L-shaft” 138) and is supported in part by an eighth shoulder bearing140 and a ninth shoulder bearing 142. The eighth shoulder bearing 140 ispositioned within the distal end of the second spur gear 136. The secondspur gear 136 is operably coupled to a second inner bevel gear 144 suchthat rotation of the spur gear 136 causes rotation of the bevel gear144. The second inner bevel gear 144 is also positioned over thehorizontal shaft 138A, and the two gears 136, 144 are coupled togetherthrough the opening 120B in the bevel gear body 120. As such, thehorizontal shaft 138A is also positioned through the opening 120B in thegear body 120.

In one embodiment, the second inner bevel gear 144 has two projections146A, 146B that mate with the spur gear 136 to couple the two gears 136,144 together. Alternatively, any coupling component or mechanism can beused to couple the two gears 136, 144 together. The second inner bevelgear 144 is supported in part by the ninth shoulder bearing 142discussed above and further in part by a tenth shoulder bearing 148,which is disposed within the distal end of the bevel gear 144. Thebearings 140, 142, 148 all help to support the second inner bevel gear144, the bevel gear body 120, and the second spur gear 136 such that allthree (the bevel gear 144, body 120, and spur gear 136) are rotatablearound the horizontal shaft 138A. The bearings 140, 142, 148 arepreloaded by the countersunk screw 150, which is threaded into athreaded lumen 152 at the end of the horizontal shaft 138A.

According to one embodiment, the L-shaft 138 has both the horizontalshaft 138A, as discussed above, and a vertical shaft 138B. As alsodiscussed above, the horizontal shaft 138A receives the second innerbevel gear 144, the bevel gear body 120, and the second spur gear 136,along with the bearings 140, 142, 148, such that all three of the bevelgear 144, gear body 120, and spur gear 136 are disposed on the shaft183A, with the bevel gear 144 and the spur gear 136 being rotatablydisposed on the shaft 138A and the gear body 120 being non-rotatablydisposed on the shaft 138A as discussed in further detail below. Thevertical shaft 138B receives an output bevel gear 154 that is supportedby the eleventh bearing 156 and the twelfth bearing 158 such that thebevel gear 154 is rotatably disposed around the shaft 138B. The bearings156, 158 are preloaded by the countersunk screw 160, which is threadedinto a threaded lumen (not shown) at the end of the shaft 138B.

The L-shaft 138 is coupled to the gear body 120 via two wings 138C, 138Dthat couple to slots 120D defined in the gear body 120 such that theL-shaft moves when the gear body 120 moves. Alternatively, the L-shaft138 can be coupled to the body 120 by any known component or mechanism.

In use, the upper drive bevel gear 44A is rotatably coupled to the bevelgear 120C (on the bevel gear body 120) such that rotation of the upperdrive bevel gear 44A causes rotation of the bevel gear 120C. Further,the lower drive bevel gear 44C is also rotatably coupled to the bevelgear 120C on bevel gear body 120 such that rotation of the lower drivebevel gear 44C also causes rotation of the bevel gear 120C. As such, thetwo bevel gears 44A, 44C work together to drive the rotation of the yoke104 about the driveshaft 40C and the rotation of the bevel gear body 120about the yoke shaft 104B. In other words, if the two bevel gears 44A,44C are actuated to rotate in opposite directions, that causes the bevelgear body 120 to rotate about the yoke shaft 104B, and if the two bevelgears 44A, 44C are actuated to rotate in the same direction, that causesthe yoke 104 to rotate about the driveshaft 40C. Further, the two gears44A, 44C can be actuated to do both at the same time.

In addition, the middle drive bevel gear 44B is rotatably coupled to thefirst inner bevel gear 122 such that rotation of the middle drive bevelgear 44B causes rotation of the first inner bevel gear 122, which causesrotation of the first spur gear 130. Rotation of the first spur gear 130causes rotation of the second spur gear 136, which causes rotation ofthe second inner bevel gear 144. The second inner bevel gear 144 isrotatably coupled to the output bevel gear 154 such that rotation of thesecond inner bevel gear 144 causes rotation of the output bevel gear154. According to certain implementations, the output bevel gear 154 canbe coupled to a robotic arm (not shown) or other component of a roboticdevice, such that rotation of the output bevel gear 154 causes rotationof the component.

As such, according to certain embodiments, the right shoulder 14 as bestshown in FIGS. 2, 4A, and 4B (and the left shoulder 16 as shown in FIG.1A) has a compact joint design with three degrees of freedom based onthree concentric driveshafts (made up of driveshafts 40A, 40B, 40C, asbest shown in FIG. 2) and three nested bevel gear sets (made up of bevelgears 44A, 44B, 44C, as best shown in FIGS. 2 and 4A) coupled to thosedriveshafts. As discussed above and as best shown in FIG. 1A, the threedegrees of freedom are intersecting degrees of freedom in certainembodiments. The nested driveshafts 40A, 40B, 40C allow for the motorscoupled thereto (motors 80A, 80B, 80C) to be positioned axially at aproximal position along the length of the device body 12 at a distancefrom the shoulders 14, 16 (and thus the gear sets associated with gears44A, 44B, 44C), thereby resulting in smaller overall circumferential orradial size (width and thickness) of the device body 12. Morespecifically, the configuration according to these embodiments resultsin the motors and driveshafts not having to be positioned axiallyalongside the bevel gear sets, thereby allowing for a device body 12having a smaller overall circumferential or radial size (smallercircumference or radius) in relation to any device in which the motorsand driveshafts are positioned alongside (at the same length as) theshoulders along the length of the device.

As discussed above in the context of FIG. 1A, each shoulder joint 14, 16provides three degrees of freedom. In this implementation as best shownin FIGS. 4A and 4B, two of the degrees of freedom—the pitch and yaw ofthe arms coupled to the shoulders 14, 16—are accomplished via the bevelgears 44A and 44C being coupled to the output bevel gear 120C asdescribed above. Further, the third degree of freedom is accomplishedvia the bevel gear 44B driving bevel gear 122, which ultimately drivesoutput bevel gear 154 as described above. As discussed in further detailabove in relation to FIG. 1A, the actuation resulting from the rotationof output bevel gear 154 depends on the configuration of the arm coupledthereto. In certain embodiments, the rotation of the bevel gear 154causes roll: rotation of the arm on its longitudinal axis. In somealternative embodiments, including the embodiment discussed below inrelation to FIGS. 5A-8B, the rotation of the bevel gear 154 is passedthrough the shoulder and causes the elbow of the arm to rotate. Infurther implementations, the rotation of the output bevel gear 154 canactuate the arm in other ways, depending on the arm configuration.

In accordance with one implementation as shown in FIGS. 5A and 5B, arobotic arm 200 (or, alternatively, two such arms) is provided that canbe coupled to a shoulder of the device 10 embodiment discussed above.Alternatively, this arm 200 can be coupled to any known robotic surgicaldevice. In this specific implementation, the arm 200 is a right arm 200.Note that FIG. 5A depicts both the right arm 200 and a left arm 202. Inthe remainder of this discussion, the description will focus on theright arm 200. It is understood that the components of the left arm 202,the relationship of those components to each other, and theirfunctionality is substantially similar to those components of the rightarm 200.

Continuing with reference to FIGS. 5A and 5B, the right arm 200 has ashoulder joint (also referred to herein as a “shoulder” or “firstjoint”) 204, an upper arm (also referred to as a “first arm link” or“first arm component”) 206, an elbow joint (also referred to herein asan “elbow” or “second joint”) 208, a forearm (also referred to herein asa “second arm link” or “second arm component”) 210, a wrist joint (alsoreferred to herein as a “wrist” or “third joint”) 212, and an endeffector 214.

In one implementation, the arm 200 (and arm 202) is configured to coupleto a shoulder having 3 degrees of freedom (“DOF”), such as the device 10described herein above. Alternatively, the arm 200 can be coupled withany known robotic device with a shoulder having 3 DOF. In a furtheralternative, the arm 200 can couple with any known robotic device.

The upper arm 206, according to one embodiment, is shown in furtherdetail in FIGS. 6A-6D. The upper arm 206 has a body (also referred to asa “casing,” “outer structure,” or “shell”) 220. In this particularimplementation, the body 220 is made up of a first body component 220Aand a second body component 220B that are coupled together via thecountersunk screw 222 that is coupled to a distal end of a couplingshaft (also referred to as a “cylindrical shaft” or “coupling shaft”)224 (as best shown in FIG. 6B). More specifically, the two bodycomponents 220A, 220B are constrained together via the coupling of thescrew 222 and the distal end of the shaft 224 such that tightening thescrew 222 into the shaft 224 produces clamping forces between the twobody components 220A, 220B. The tightening of the coupling between thescrew 222 and shaft 224 also causes the shaft 224 to be pulled into acorresponding cylindrical lumen 225 defined in the body component 220Bas best shown in FIG. 6B. More specifically, the shaft 224 is positionedwithin the cylindrical lumen 225 and is urged distally as the screw 222is tightened into the shaft 224. Alternatively, the body 220 is asingle, unitary component. In further alternatives, the body 220 can bemade up of three or more different components.

In this particular embodiment as depicted in which the upper arm 206 iscoupled to the shoulder 14 described above, the upper arm 206 is coupledto the shoulder 14 by removing/replacing some of the components ofshoulder 14 described above. More specifically, in this particularexample, the following components as best shown in FIG. 4B are removedand replaced with components of the upper arm 206: the second innerbevel gear 144, the tenth shoulder bearing 148, the L-shaft gear linkage138, the eleventh bearing 156, the output bevel gear 154, the twelfthbearing 158, and the countersunk screw 160. Thus, the proximal end 226of the upper arm 206 is configured to couple with the bevel gear body120 (as best shown in FIG. 4B) such that the distal end of the couplingshaft 224 extends through the opening 120B in the gear body 120. Morespecifically, the proximal end 226 has projections 226A as best shown inFIG. 6D that geometrically match with the slots 120D defined in the gearbody 120 (as best shown in FIG. 4B) such that the proximal end 226 iscoupled to the gear body 120. Alternatively, the proximal end 226 andthe gear body 120 can have any feature or configuration that results ingeometric matching and thus coupling of the two components. In oneembodiment, the coupling shaft 224 and thus the entire upper arm 206 areattached to the gear body 120 via the countersunk screw 150 (as bestshown in FIG. 4B), which threadably couples to the distal end of theshaft 224. Further, the upper arm 206 has a first upper arm bevel gear228 disposed in the proximal end 226 that is rotationally coupled at itsproximal end to the second spur gear 136 (as best shown in FIG. 4B) suchthat rotation of the spur gear 136 causes the bevel gear 228 to rotate.In one embodiment, as best shown in FIG. 6D, the first gear 228 hasprojections 228A at its proximal end that geometrically match with afeature or component on the spur gear 136, thereby allowing the twogears 228, 136 to couple. Alternatively, the gears 228, 136 can have anyconfigurations that allow them to couple together. While this specificexemplary embodiment relates to the upper arm 206 being coupled to thedevice 10 described above, it is understood that, according to variousalternative embodiments, the first bevel gear 228 can be rotationallycoupled to a gear or shaft or other rotational component of any roboticdevice to which the upper arm 206 is coupled.

Continuing with FIGS. 6A and 6B, the first upper arm bevel gear 228 isconstrained and supported by the coupling shaft 224 (which is positionedthrough the gear 228 such that the gear 228 rotates around the shaft224) and is mateably coupled to (and further constrained and supportedby) a second upper arm bevel gear 230 such that rotation of the firstbevel gear 228 causes rotation of the second bevel gear 230. The secondbevel gear 230 is rotationally coupled to a driveshaft 232 such thatrotation of the bevel gear 230 causes rotation of the driveshaft 232. Inone implementation, the gear 230 and driveshaft 232 have geometricalfeatures that allow for the two components to mateably couple in asimilar fashion to the gear 228 and spur gear 136, as described above.Alternatively, the gear 230 and driveshaft 232 can be coupled in anyknown fashion such that rotation of one causes rotation of the other.The driveshaft 232 is supported by first upper arm bearing 234 andsecond upper arm bearing 236.

These bearings 234, 236, according to one embodiment, also function asalignment features to help with alignment and constraint of the firstand second body components 220A, 220B. That is, each of the first andsecond body components 220A, 220B have bearing receiving openings 235,237 defined within the components 220A, 220B such that the bearings 234,236 can be positioned therein when the components 220A, 220B are coupledto each other as shown. Thus, assembly and coupling of the twocomponents 220A, 220B are facilitated and aligned by the positioning ofthe bearings 234, 236 in the bearing receiving openings 235, 237. At itsdistal end, the driveshaft 232 is rotationally coupled to a third upperarm bevel gear 238 such that rotation of the driveshaft 232 causesrotation of the gear 238. The driveshaft 232 and gear 238 havegeometrical features that allow for the two components to mateablycouple in a similar fashion to the gear 230 and driveshaft 232 or arecoupled in any known fashion such that rotation of one causes rotationof the other, as described above.

The upper arm 206 has a distal opening 244 defined at or near the distalend of the arm 206. As described in further detail below, the distalopening 244 is configured to receive a component of any forearm (such asforearm 210, for example) or other component that is coupled to theupper arm 206 such that the forearm or other component can rotate inrelation to upper arm 206. As best shown in FIG. 6D, the opening 244 hastwo bearings 246A, 246B disposed therein that provide support to thecomponent disposed therethrough, as described below.

According to some implementations, the upper arm 206 has at least oneretaining ring that functions to help hold together the distal end ofthe upper arm 206. That is, the retaining ring can help to maintain thecoupling of the first and second body components 220A, 220B. In thisspecific implementation, the upper arm 206 has two retaining rings 240A,240B as best shown in FIG. 6A. Alternatively, any upper arm embodimentdisclosed or contemplated herein can have one, three, or any number ofretaining rings to help hold the distal end of the upper arm together.Further, it is understood that any known mechanism or component forhelping to maintain the coupling of the two body components 220A, 220Bcan be used. In a further embodiment, the upper arm 206 can also have anend-mounted retaining ring 242, as best shown in FIG. 6C. As with theretaining rings 240A, 240B, the end-mounted retaining ring 242 helps tohold the distal end of the upper arm 206 together.

In certain embodiments, the upper arm 206 can also have an anchor point248 disposed on the second body component 220B as best shown in FIG. 6B.The anchor point 248 is configured to act as an anchor or attachmentpoint for one or more elongate elastic components (also referred toherein as “elastic tendons” or “elastic bands”) (not shown) that extendover the elbow joint 208 and couple to the forearm attached thereto(such as forearm 210) such that the elastic band (not shown) can apply arestraining force to the upper arm 206 and forearm (such as forearm 210)when the forearm is actuated to bend at the elbow joint 208. That is,the elastic band is intended to reduce any loose couplings or“sloppiness” of the various components at the joint 208, therebyenhancing the coupling of those components. Thus, as the forearm (suchas forearm 210) is actuated to bend at the elbow joint 208, the elasticband is stretched, thereby resulting in force being applied at the elbowjoint 208 that urges the forearm to return to the “straight” position asbest shown in FIG. 5B. In the embodiment as shown, the anchor point 248is a countersunk bolt 248 threadably coupled to the second bodycomponent 220B. Alternatively, instead of the bolt 248, any component ormechanism that can serve as an anchor point 248 can be incorporated intothe arm 206.

In one embodiment, the third upper arm bevel gear 238 is configured tobe coupleable to a matching bevel gear fixed to a forearm (such asforearm 210, for example) that is coupled to the upper arm 206. Hence,in one embodiment, the drivetrain in the upper arm 206 can be used tocause rotation of the forearm (such as forearm 210) in relation to theupper arm 206. The drivetrain is made up of the first upper arm bevelgear 228, the second upper arm bevel gear 230, the driveshaft 232, andthe third upper arm bevel gear 238. In use, the first upper arm bevelgear 228 can be actuated to rotate (by rotation of the spur gear 136,according to some implementations), thereby causing the second upper armbevel gear 230 to rotate, thereby causing the driveshaft 232 to rotate.Rotation of the driveshaft 232 causes the third upper arm bevel gear 238to rotate, thereby causing any forearm component coupled thereto torotate in relation to the upper 206. As a result, rotation of the bevelgear 238 causes the forearm (such as forearm 210) to move in relation tothe upper arm 206 at the elbow joint (such as elbow joint 208).

According to one embodiment, the coupling of the upper arm 206 to thedevice 10 described above results in an arm with five degrees offreedom. That is, as discussed above with respect to FIGS. 4A and 4B,each shoulder (such as shoulders 14, 16 discussed above in relation toFIG. 1A) provides three degrees of freedom in the form of pitch, yaw,and rotation of the elbow. In this embodiment, the fourth degree offreedom is the rotation of the end effector around an axis parallel tothe longitudinal axis of the forearm, and the fifth degree of freedom isthe rotation of each of the graspers that cause the graspers to open andclose. In this implementation, the third degree of freedom—the rotationof the output bevel gear 154 as discussed above—is utilized to actuatethe elbow joint 208 instead of causing roll of the upper arm 206. Thus,in this particular embodiment, the upper arm 206 does not rotate aroundits own longitudinal axis.

FIGS. 7, 8A, and 8B depict the forearm 210 that is coupled with theupper arm 206, according to one embodiment. The forearm 210 has aforearm body 300 (also referred to as a “casing” or “shell”) thatcontains and constrains the one or more motors (discussed below). Thebody 300 can have, in certain embodiments, a cautery connection (notshown) disposed in the body 300 and a cautery wire opening 303 definedtherein. In one implementation as shown, the body 300 is made up ofthree components: a main body 300A, a electronics cover 300B, and adistal cover 300C. The electronics cover 300B contains a controller (notshown)—which can include a printed circuit board (“PCB”)—that is coupledto the motors (discussed below) such that the controller can operate tocontrol the motors. Further, the electronics cover 300B can sealably andfluidically protect the controller and any other electronics (not shown)contained within the body 300 from the external environment. The distalcover 300C is positioned at or on a distal end of the body 300 and has alip 302 defined therein that is configured to receive and help to retainany elastic constraint that is used to couple and fluidically seal asterile cover (not shown) to the forearm 210 such that the cover can beretained in its appropriate position during use. Alternatively, thedistal cover 300C can have any known component or mechanism forreceiving, retaining, or coupling to a sterile cover. Further, thedistal cover 300C defines an opening 304 at its distal end that isconfigured to receive an interchangeable end effector, as discussed infurther detail below.

The forearm 210 also has two protrusions 264A, 264B as best shown inFIGS. 8A and 8B that form a portion of the joint 208 at which the upperarm 206 is coupled to the forearm 210. In this implementation, the twoprotrusions 264A, 264B (and thus the elbow joint 208) are positioned ata point along the length of the forearm 210 between the distal end 260and the proximal end 262 of the forearm 210. That is, the protrusions264A, 264B are spaced from both the distal end 260 and proximal end 262of the forearm 210. In this particular embodiment, the protrusions 264A,264B (and thus the joint 208) are positioned at or substantiallyadjacent to a midpoint along the length of the forearm 210 as shown.Alternatively, the protrusions 264A, 264B (and thus the joint 208) arepositioned anywhere along the length of the forearm 210 such that theprotrusions 264A, 264B are spaced from both the proximal 262 and distal260 ends. As such, rotation of the forearm 210 does not occur at theproximal end 262 of the forearm 210 but instead occurs at some otherpoint along the length of the forearm 210 as determined by the positionof the protrusions 264A, 264B.

Each protrusion 264A, 264B has an opening 266A, 266B, respectively,defined therein as shown. As best shown in FIG. 8B, a joint gear 268 isdisposed within the joint 208 between the two protrusions 264A, 264Bsuch that the shaft 268A of the gear 268 is rotatably disposed withinthe opening 264A. Further, a joint shaft 270 is also disposed within thejoint 208 between the two protrusions 264A, 264B such that the shaft 270is rotatably disposed within the opening 264B at one end and disposedwithin the gear 268 at the other end.

When the upper arm 206 is coupled to the forearm 210 as shown in FIG.8B, the distal end of the upper arm 206 is disposed between the twoprotrusions 264A, 264B such that the opening 244 (as best shown above inFIGS. 6A, 6B, and 6D) is disposed between and axially aligned with thetwo openings 266A, 266B. The distal end of the upper arm 206 is coupledto the forearm 210 by the joint shaft 270, which is disposed throughopening 264B, opening 244 (and supported by bearings 246A, 246B inopening 244 as discussed above), and into the gear 268 such that thedistal end of the upper arm 206 is rotatably retained in the joint 210between the two protrusions 264A, 266B as shown.

The joint gear 268 is rotationally coupled to the third upper arm bevelgear 238 of the upper arm 206 as shown in FIG. 8B such that rotation ofthe third upper arm bevel gear 238 causes rotation of the joint gear268.

While the joint 208 in this specific implementation is made up of thetwo protrusions 264A, 264B, the joint shaft 270, and the joint bevelgear 268, it is understood that any known joint or rotational couplingconfiguration or mechanism can be incorporated into these various armembodiments.

In certain embodiments, the forearm 210 can also have an anchor point272 as best shown in FIGS. 8A and 8B. Like the anchor point 248discussed above, the anchor point 272 is configured to act as the otheranchor or attachment point (in combination with the anchor point 248)for any elastic tendons (not shown) as discussed above that extend overthe elbow joint 208. In the embodiment as shown, the anchor point 272 isa countersunk bolt 272 threadably coupled to the forearm 210.Alternatively, instead of the bolt 272, any component or mechanism thatcan serve as an anchor point 272 can be incorporated into the forearm210.

One exemplary interchangeable end effector 320 that can be coupled tothe forearm 210 discussed above is depicted in FIGS. 9A-9C.Alternatively, it is understood that the end effector 320 can be coupledwith any known robotic arm or robotic surgical device. It is furtherunderstood that any interchangeable end effector can be coupled to theforearm 210 or removed and replaced with any other known interchangeableend effector.

The end effector 320 in this exemplary embodiment is a graspers endeffector 320 with a graspers component 322 having first and secondgrasper arms 322A, 322B. The end effector 320 has a twistable knob 324that can be grasped by a user to couple the end effector 320 to anduncouple the end effector 320 from an arm (such as the forearm 210). Theknob 324 is coupled to the locking collar 326 having locking protrusions326A that mateably couple to the four notches 382 defined in the cover300C as described in further detail below. Rotation of the knob 324causes rotation of the locking collar 326, thereby allowing forpositioning the protrusions 326A into the notches 382 and therebycoupling the end effector 320 to the forearm 210. In certainembodiments, a sealing ring (also referred to herein as an “o-ring”) 328is disposed around the end effector 320 at a proximal end or portion ofthe knob 324 such that the ring 328 can provide for a fluidically sealedcoupling of the end effector 320 to the forearm 210 when the endeffector 320 is coupled thereto as described above. Further, accordingto some implementations, the ring 328 can also provide outward pressureor force against both the end effector 320 and the forearm 210 such thatcounter-rotation of the knob 324 that might cause the end effector 320to uncouple during use is reduced or eliminated.

The end effector 320 has both a rotational drive system and a grasperarm actuation drive system. The rotational drive system is made up of arotatable yoke 330 that is coupled to the graspers 322 such thatrotation of the yoke 330 causes rotation of the graspers 322. That is,the yoke 330 has two flanges 330A, 330B as best shown in FIG. 9A suchthat the graspers 322 are disposed between the two flanges 330A, 330Band coupled thereto via the pin 331. At its proximal end, the yoke 330has mateable coupling components 332 that are configured to couple tothe rotational drive component 370 in the distal end of the forearm 210,as described in further detail below. More specifically, in thisexemplary embodiment, the mateable coupling components 332 are twoprotrusions 332 as best shown in FIGS. 9A and 9C. The rotatable yoke 330is axially restrained (such that the yoke 330 does not move distally orproximally in relation to the length of the end effector 320) by agroove 334 defined around an outer surface of the yoke 330 such that apin (not shown) can be inserted through an opening 336 in the knob 324(as best shown in FIG. 9A) and positioned in the groove 334, therebyallowing the yoke 330 to rotate but preventing it from moving in anaxial direction. Thus, rotation of the rotational drive component 370 inthe forearm causes rotation of the rotatable yoke 330, which causesrotation of the graspers 322.

The grasper arm actuation drive system is made up of aninternally-threaded rotatable cylinder 338, an externally threaded drivepin 340 threadably coupled to the cylinder 338, and two linkages(including linkage 342) coupled to the pin 340. The rotatable cylinder338 has mateable coupling components 344 at its proximal end that areconfigured to couple to the actuation drive component 372 in the distalend of the forearm 210, as described in further detail below. Morespecifically, in this exemplary embodiment, the mateable couplingcomponents 344 are two protrusions 344 as best shown in FIGS. 9A and 9C.The rotatable cylinder 338 is axially restrained by a groove 346 definedaround an outer surface of the cylinder 338 such that a pin (not shown)can be inserted through an opening (not shown) in the knob 324 (similarto opening 336 discussed above) and positioned in the groove 346,thereby allowing the cylinder 338 to rotate but preventing it frommoving in an axial direction.

The rotatable cylinder 338 has a lumen 347 with a lumen inner surface348 that is threaded. The drive pin 340 has a distal head (also referredto as a “coupling component”) 350 and an externally-threaded proximalbody 352 that is sized to be disposed within the lumen 347 of thecylinder 338 such that the proximal body 352 is threadably coupled tothe lumen inner surface 348. The distal head 350 has two openings 354A,354B defined therein that are coupleable to the two linkages. Morespecifically, the linkage 342 is coupled to the distal head 350 atopening 354A with a pin or similar coupling component (not shown).Further, a second linkage (not shown) is coupled to the distal head 350at opening 354B in the same fashion. The linkages (342 and the linkagethat is not shown) are coupled to the proximal ends of the grasper arms322A, 322B. As such, rotation of the actuation drive component 372 inthe forearm 210 causes rotation of the rotatable cylinder 338, whichcauses axial movement of the drive pin 340 (through the threadablecoupling of the cylinder 338 and the pin 34), which causes movement ofthe linkages (342 and the linkage that is not shown), which causes thegrasper arms 322A, 322B to rotate around the axis at pin 331 in the yoke330 such that the arms 322A, 322B move between an open position and aclosed position.

FIGS. 10A-10C depict the distal cover 300C of the body 300, along withthe end effector interface 364, according to one embodiment.

As best shown in FIG. 10A, according to one implementation, the distalcover 300C discussed above can be coupled to the main body 300A andelectronics cover 300B by a fastener 360 positioned through the distalcover 300C and the electronics cover 300B, thereby coupling both thedistal cover 300C and electronics cover 300B to the main body 300A. Inone embodiment, the fastener 360 is a bolt 360. Alternatively, any knownfastener or attachment mechanism can be used.

According to another embodiment, a further fastener 362 is provided tofurther couple the distal cover 300C to the main body 300A. The fastener362 is a pin 362. Alternatively, the fastener 362 can be any knownfastener or attachment mechanism.

As best shown in FIGS. 10B and 10C, the distal cover 300C, in accordancewith certain implementations, houses the end effector interface 364. Theend effector interface 364 is configured to couple to the actuationcomponents of an end effector (such as end effector 320 discussedabove). More specifically, in those exemplary embodiments in which theend effector interface 364 is coupling to the end effector 320, theinterface 364 is configured to couple to both the rotational drivesystem and the graspers drive system as discussed above. The interface364 has first and second sealing rings 366, 368, a rotatable rotationaldrive component 370, a rotatable graspers actuation drive component 372,and an electrical contact spring 374.

It is understood that this interface 364 can be coupled with various endeffectors. While the description below will specifically reference theend effector 320 and how the components of the interface 364 relate toand couple with that end effector 320, that is not intended to limit theuse of this end effector interface 364 to solely the end effector 320.Instead, the interface 364 can be coupled to any end effector having theappropriate components to couple thereto.

The rotatable rotational drive component 370, in this specificimplementation, is a rotatable drive cylinder 370 with mateable couplingcomponents 370A, 370B (as best shown in FIG. 10B) that are configured tomate with the mateable coupling components 332 of the rotatable yoke 330in the end effector 320, as discussed above. More specifically, themateable coupling components 370A, 370B in this embodiment areprojections 370A, 370B that are mateable or coupleable with the mateablecoupling components 332 of the rotatable yoke 330 in the end effector320.

The rotatable graspers actuation drive component 372, in this specificimplementation, is a rotatable drive cylinder 372 with mateable couplingcomponents 372A, 372B (as best shown in FIG. 10B) that are configured tomate with the mateable coupling components 344 of the rotatable cylinder338 in the end effector 320, as discussed above. More specifically, themateable coupling components 372A, 372B in this embodiment areprojections 372A, 372B that are mateable or coupleable with the mateablecoupling components 344 of the rotatable cylinder 338 in the endeffector 320.

In one implementation, the rotatable graspers actuation drive component372 can transfer electrical energy to the graspers of an end effector(such as the graspers 322 of end effector 320) for cauterization. Thatis, the rotatable cylinder 372 has a proximal lumen 378 defined in aproximal end of the cylinder 372 that is configured to receive theelectrical contact spring 374. The spring 374 extends proximally into alumen 380 defined in the body 300 such that the spring 374 is positionedadjacent to the cautery wire opening 303 discussed above such that acautery wire (or cautery cable) positioned through the opening 303 canbe coupled to the spring 374. Alternatively, the spring 374 can be anyelectrical contact component. It is understood that, according tocertain embodiments, the cautery wire opening 303 is defined on bothsides of the body 300 so that the same body 300 configuration can beused in both the left and right arms of the device.

The rotatable drive cylinder 372 is positioned or nested within therotatable drive cylinder 370 as shown. The first sealing ring 366 is ano-ring 366 that is disposed between the distal cover 300C and therotatable drive cylinder 370. The second sealing ring 368 is an o-ring368 that is disposed between the rotatable drive cylinder 370 and therotatable drive cylinder 372. The two rotatable drive cylinders 370, 372are supported and rotatably retained in place by a first bearing 376,along with the first sealing ring 366.

As best shown in FIG. 10B, the distal cover 300C, according to a furtherembodiment, has at least two notches defined in the distal cover opening304 that can be mateable or coupleable with the locking protrusions 326Aon the end effector 320 as discussed above. In this specificimplementation, the cover 300C has four notches 382 that are mateablewith the four protrusions 326A discussed above such that the endeffector 320 can be coupled to the distal cover 300C with a singlerotation or “twist” of the know 324 of the end effector 320.Alternatively, any known locking mechanism or feature can be used.

According to one embodiment, FIGS. 11A-11C depict the motors within thebody 300 that power the rotatable rotational drive component 370 and therotatable graspers actuation drive component 372 discussed above. Morespecifically, in accordance with one implementation, the forearm 210 hastwo motors 400, 402 disposed therein, as best shown in FIG. 11C. In oneembodiment, the motors 400, 402 are 6 mm brushless motors.Alternatively, the motors 400, 402 can be any known type of motors foruse in robotic arms.

As best shown in FIG. 11A, the motor 400 is coupled to a shaft 404,which is coupled to a bushing 406, which in turn is coupled to the drivegear (also referred to as a “spur gear”) 408. Alternatively, the shaft404 can be coupled directly to the drive gear 408. The drive gear 408 isrotatably coupled to gear teeth 410 that are attached to or otherwisecoupled to the rotatable graspers actuation drive component 372. Thus,actuation of the motor 400 causes rotation of shaft 404, which causesrotation of drive gear 408, which causes rotation of the rotatablegraspers actuation drive component 372, which ultimately causes thegrasper arms 322A, 322B to move between an open position and a closedposition, as described above.

As also shown in FIG. 11A, the motor 402 is coupled to a shaft 420,which is coupled to a bushing 422, which in turn is coupled to the drivegear (also referred to as a “spur gear”) 424. Alternatively, the shaft420 can be coupled directly to the drive gear 424. The drive gear 424 isrotatably coupled to gear teeth 426 that are attached to or otherwisecoupled to the rotatable rotational drive component 370. Thus, actuationof the motor 402 causes rotation of shaft 420, which causes rotation ofdrive gear 424, which causes rotation of the rotatable rotational drivecomponent 370, which ultimately causes the graspers end effector torotate, as described above.

According to one implementation, the motors 400, 402 are retained orheld in place in the forearm 210 by a locking wedge 430. In useaccording to one embodiment, the locking wedge 430 can be urged towardthe distal end of the forearm 210 along the two motors 400, 402 suchthat the angled or wedge portion 434 is positioned in the wedge-shapedopening 432 defined in the body 300 to help to retain or “lock” the twomotors 400, 402 in place. This positioning of the wedge portion 434 inthe wedge-shaped opening 432 urges the wedge portion 434 against themotors 400, 402, thereby creating a friction-based contact between thewedge portion 434 and motors 400, 402, thereby helping to retain themotors 400, 402 in place via the frictional force. According to oneembodiment, the locking wedge 430 can be positioned manually to lock themotors 400, 402 in position.

FIGS. 12A and 12B depict another embodiment of the right shoulder joint14 and its various components. More specifically, FIG. 12A depicts anexploded view of the internal components of the right shoulder joint 14,while FIG. 12B depicts a cross-sectional front view of the internalcomponents of the right shoulder joint 14. As shown in both FIGS. 12Aand 12B, and as will be explained in further detail below, the outerdriveshaft 40A (discussed above in relation to FIGS. 2-3E) is coupled(or rotationally constrained) to the shoulder roll housing (alsoreferred to herein as the “shoulder housing” or “conversion body”) 500,while the middle driveshaft 40B (discussed above in relation to FIGS.2-3E) is coupled to the upper drive bevel gear 502, and the innerdriveshaft 40C (discussed above in relation to FIGS. 2-3E) extendsthrough the spacer 512 and is coupled to the lower drive bevel gear 504.

While the remainder of this description will focus on the right shoulderjoint 14 and its components, it is understood that the components of theleft shoulder joint 16, the components coupled thereto, the relationshipof those components to each other, and their functionality can besubstantially similar to the right shoulder joint 14.

As best shown in FIG. 12B, the outer driveshaft 40A and shoulder housing500 are supported by the first bearing 506, which is disposed on anouter portion of the housing 500. In addition, as best shown in bothFIGS. 12A and 12B, the outer driveshaft 40A and shoulder housing 500 arefurther supported by the second bearing 508, which is disposed withinthe housing 500. The middle driveshaft 40B and the upper drive bevelgear 502 are supported by the second bearing 508 and the third bearing510, which is positioned within the distal end of the upper drive bevelgear 502 as best shown in FIG. 12B. The bearings 506, 508, 510 arepreloaded using a single countersunk screw 514 threaded into the distalend of the inner driveshaft 40C. Alternatively, any attachmentcomponents can be used to preload the bearings 506, 508, 510.

According to one embodiment, as best shown in FIG. 12A, the shoulderhousing 500 is made up of two housing components: the first housingcomponent (or “first housing shell”) 500A and the second housingcomponent (or “second housing shell”) 500B. In this implementation, thetwo shells 500A, 500B are coupled together with a screw 516 and aretaining ring 518. Alternatively, any known attachment components ormechanisms can be used to couple the two shells 500A, 500B together. Ina further alternative, the housing 500 is single unitary housing.

As mentioned above, the outer driveshaft 40A is coupled (or rotationallyconstrained) to the shoulder roll housing 500. More specifically,projections 501A, 501B extending from a top portion of the housing 500(more specifically, from each of the two housing shells 500A, 500B,according to this embodiment) are mateable with two notches 503A, 503Bin the outer driveshaft 40A. Alternatively, any mechanism(s) orfeature(s) for coupling the driveshaft 40A and the housing 500 can beused. Thus, rotation of the outer driveshaft 40A causes the shoulderhousing 500 to rotate around the longitudinal axis of the driveshaft40A, thereby causing any arm coupled to the shoulder (at output bevelgear 550 discussed below) to rotate around the same axis, resulting inthe arm moving from left to right (“yaw”) in relation to the device body(such as body 12 discussed above).

The upper drive bevel gear 502 is mateably coupled to the first drivenbevel gear 520 such that rotation of the upper drive bevel gear 502causes rotation of the first driven bevel gear 520 around thelongitudinal axis of the shaft 528A of the second driven bevel gear 528discussed below. The first driven bevel gear 520 drives the pitch of theshoulder 14 by causing rotation of the bevel gear body 522 around thesame longitudinal axis of the shaft 528A, thereby causing the arm tomove “up and down” in relation to the device body. That is, at itsdistal end, the first driven bevel gear 520 is coupled to the bevel gearbody (also referred to as “rotatable arm,” “rotatable body,” “rotationarm,” “rotation body,” “pitch arm,” or “pitch body”) 522 such thatrotation of the first driven bevel gear 520 causes rotation of the bevelgear body 522. More specifically, the bevel gear body 522 has twoopenings 522A, 522B defined therein (as best shown in FIG. 12A), with amateable coupling 522C disposed around one side of the opening 522A thatis coupled to the first driven bevel gear 520 such that rotation of thebevel gear 520 causes rotation of the bevel gear body 522. In thisexemplary embodiment, the first driven bevel gear 520 has an opening520A defined therethrough such that the bevel gear 520 is rotatablydisposed over the second driven bevel gear 528, which is discussed infurther detail below. The first driven bevel gear 520 is constrained byfourth bearing 524 and fifth bearing 526.

It is understood that the rotation body 522 can be any component thathas two openings as described herein and can be coupled to the variouscomponents as described.

The lower drive bevel gear 504 is mateably coupled to the second drivenbevel gear 528 such that rotation of the lower drive bevel gear 504causes rotation of the second driven bevel gear 528. As mentioned above,the second driven bevel gear 528 is rotatably disposed through theopening 520A in the first driven bevel gear 520 such that the seconddriven bevel gear 528 is at least partially disposed within the firstdriven bevel gear 520. The second driven bevel gear 528 is coupled tothe first spur gear 530 such that rotation of the second driven bevelgear 528 causes rotation of the first spur gear 530. That is, the shaft528A of the second driven bevel gear 528 extends through the opening522A in the bevel gear body 522 and is coupled to the first spur gear530. In one specific embodiment, the second driven bevel gear 528 ismateably coupled to the first spur gear 530 via a geometric coupling.The second driven bevel gear 528 is constrained by the fourth bearing524 and a sixth bearing 532. It is understood that the bearings 524,526, 532 are preloaded using a spring 534 and translationallyconstrained by a retaining ring 536. In one embodiment, the spring 534is a Belleville spring 534.

The first spur gear 530 discussed above is mateably coupled to thesecond spur gear 538 such that rotation of the first spur gear 530causes rotation of the second spur gear 538. The second spur gear 538 iscoupled to the third driven bevel gear 540 such that rotation of thesecond spur gear 538 causes rotation of the third driven bevel gear 540.That is, the shaft 540A of the third driven bevel gear 540 extendsthrough the opening 522B in the bevel gear body 522 and is coupled tothe second spur gear 538. In one specific embodiment, the second spurgear 538 is mateably coupled to the shaft 540A of the third driven bevelgear 540 via a geometric coupling. The third driven bevel gear 540 isconstrained by a seventh bearing 542 and an eighth bearing 544.According to one implementation, both bearings 542, 544 are disposedwithin or press fit within the bevel gear body 522. It is understoodthat the bearings 542, 544 are preloaded using a spring 546 andtranslationally constrained by a retaining ring 548. In one embodiment,the spring 546 is a Belleville spring 546.

The third driven bevel gear 540 is mateably coupled to a fourth drivenbevel gear (also referred to herein as a “yaw output gear” or “outputgear”) 550 such that rotation of the third driven bevel gear 540 causesrotation of the output gear 550. The output gear 550 is constrained by aninth bearing 552 and a tenth bearing 554. In accordance with oneembodiment, the bearings 552, 554 are retained in place by the bevelgear body 522. Further, the gear 550 is translationally constrained by aretaining ring 556.

In this embodiment as shown in FIGS. 12A and 12B, the pitch, yaw, androll rotations are coupled. That is, the actuation of one of therotations will cause actuation of at least one of the other rotations asa result of their coupled nature such that some counteraction must occurif the secondary actuation is undesirable. For example, when it isdesirable to cause the device arm coupled to the shoulder to move “upand down” (pitch), the bevel gear 502 is actuated to rotate, therebycausing gear 520 to rotate as described above. However, that is not theonly motion that is caused by the actuation of bevel gear 502. That is,the coupled nature of these drive components results in the output gear550 rotating as well. If that secondary rotation is undesirable, it mustbe nullified by a counteracting actuation of bevel gear 504 to preventthe rotation of output gear 550. Similarly, actuation of the drivecomponents to cause yaw (rotation of the shoulder housing 500 around thelongitudinal axis of the driveshaft 40A) can also cause some pitch androll. Thus, the coupled nature of these three rotations requires acounteracting actuation if the secondary actuations are undesirable.

In accordance with one implementation, the bevel gear body 522 is madeup of two components 522C, 522D coupled together as best shown in FIG.12A. Alternatively, the bevel gear body 522 can be a single, unitarycomponent 522.

Further embodiments as best shown in FIGS. 13-17D relate to jointimplementations that can be incorporated into shoulder joints, elbowjoints, wrist joints, or other joints of a robotic arm. These jointembodiments have four degrees of freedom while—in someinstances—requiring only three motors.

In certain implementations, the joint embodiments below can beincorporated into a wrist joint, thereby resulting in a wrist joint withfour degrees of freedom, which is two more degrees of freedom than knownrobotic grasper drivetrains. Hence, the wrist joint embodiments arenimble wrist joints providing more dexterity to the surgeon incomparison to known wrist joints. In other implementations, the jointembodiments below can be incorporated into a shoulder joint, therebyallowing for four degrees of freedom to pass through the shoulder jointand into the robotic arm coupled thereto. As a result of thisembodiment, larger motors can be used to actuate the joints of therobotic arm coupled thereto and also allow for the lengths of the armcomponents to be determined based on factors other than solely motorsize.

As mentioned above, these embodiments can utilize only three motors tocontrol four degrees of freedom. As will be described in detail below,these configurations that have only three motors are possible becauseall three motors are coupled together in a shared state in which afourth degree of freedom is realized. As detailed below, the coupling ofthe three motors can be accomplished in several ways, including byproviding a braking force condition on one of the outputs such that onlydeliberate commands will cause a robotic joint to actuate.

It is understood that there are at least two embodiments described belowhaving four degrees of freedom. The first embodiment, as depicted inFIGS. 13-14B, utilizes four motors, while the second embodiment, asdepicted in FIGS. 15A-17D, requires only three motors.

FIG. 13 depicts a cross-sectional front view of a joint 600 having a setof nested driveshafts 602, 604, 606, 608. More specifically, the set offour nested driveshafts 602, 604, 606, 608 includes a first (alsoreferred to herein as “inner”) driveshaft 602, a second (also referredto as “first middle”) driveshaft 604, a third (also referred to as“second middle”) driveshaft 606, and a fourth (also referred to as“outer”) driveshaft 608. It is understood that the specific length ofthese driveshafts 602, 604, 606, 608 as shown in FIG. 13 is merelyexemplary, and that the length can vary depending on variouscircumstances, including whether the joint 600 is a shoulder joint,elbow joint, wrist joint, or some other kind of joint.

The first driveshaft 602 is rotatably disposed within the seconddriveshaft 604 as shown, and has a first driven gear 610 fixedly orintegrally attached at its proximal end as shown. The first driveshaft602 is supported at its proximal end by first proximal bearing 640 andsecond proximal bearing 642, with the first bearing 640 being supportedby the enclosure (not shown) of the joint 600 and the second bearing 642being supported by the second driven gear 612. At its distal end, thefirst driveshaft 602 is rotationally coupled to a first bevel gear 620,as best shown in FIGS. 13, 14A, and 14B. According to one embodiment,the driveshaft 602 is coupled to the gear 620 via a geometric coupling,and the gear 620 is retained axially in relation to the driveshaft 602by bolt 660. The driveshaft 602 and gear 620 are radially constrained ina first distal bearing 650.

The first bevel gear 620 is rotatably coupled to a first intermediatebevel gear 680, as best shown in FIGS. 13, 14A, and 14B. The bevel gear680 is fixedly coupled or integral with a rotatable cylinder 681, whichis fixedly coupled to a drive post 662, which extends distally toward adistal end of the joint 600 from the rotatable cylinder 681. The drivepost 662 is retained in position by a first post bolt 664 and a secondpost bolt 666 and constrained by first post bearing 668 and second postbearing 670. Rotation of the first intermediate bevel gear 680 causesrotation of the cylinder 681 around the axis of the bevel gear 680,which causes the drive post 662 to rotate around the axis of the bevelgear 680, which is perpendicular to the rotational axis of thedriveshafts 602, 604, 606, 608. As a result, the portion of the joint600 distal to the rotatable cylinder 681 rotates with the drive post662. Thus, actuation of the motor (not shown) coupled to the firstdriven gear 610 causes rotation of the first driven gear 610, whichcauses rotation of the first driveshaft 602. Rotation of the firstdriveshaft 602 causes rotation of the first bevel gear 620, which causesrotation of the first intermediate bevel gear 680 around an axisperpendicular to the axis of rotation of the driveshafts 602, 604, 606,608. And rotation of the first intermediate bevel gear 680 causesrotation of the rotatable cylinder 681, which causes rotation of thedrive post 662, which causes rotation of the portion of the joint 600distal to the first intermediate bevel gear 680 around the same axis ofrotation as the first intermediate bevel gear 680.

The second driveshaft 604 is rotatably disposed within the thirddriveshaft 606 as shown, and has a second driven gear 612 fixedly orintegrally attached at its proximal end. The second driveshaft 604 issupported at its proximal end by second proximal bearing 642 and thirdproximal bearing 644, with the second bearing 642 being supported by thesecond driven gear 612 and the third bearing 644 being supported by thethird driven gear 614. At its distal end, the second driveshaft 604 isrotationally coupled to a second bevel gear 622, as best shown in FIGS.13, 14A, and 14B. According to one embodiment, the driveshaft 604 iscoupled to the gear 622 via a geometric coupling, and the driveshaft 604and gear 622 are constrained by a second distal bearing 652.

The second bevel gear 622 is rotatably coupled to a second intermediatebevel gear 682, as best shown in FIGS. 13, 14A, and 14B. Further, thebevel gear 682 is rotatably coupled to a first output bevel gear 690,which is rotationally coupled with or integral with the first (or“inner”) rotatable output member 672. The second intermediate bevel gear682 is supported by a third distal bearing 654, which is supported by aportion of the first intermediate bevel gear 680. Thus, actuation of themotor (not shown) coupled to the second driven gear 612 causes rotationof the second driven gear 612, which causes rotation of the seconddriveshaft 604. Rotation of the second driveshaft 604 causes rotation ofthe second bevel gear 622, which causes rotation of the secondintermediate bevel gear 682 around an axis perpendicular to the axis ofrotation of the driveshafts 602, 604, 606, 608. And rotation of thesecond intermediate bevel gear 682 causes rotation of the first outputbevel gear 690 around an axis parallel to the axis of rotation of thedriveshafts 602, 604, 606, 608, which causes rotation of the firstrotatable output member 672 around the same axis of rotation. It isunderstood that the first rotatable output member 672 is configured tobe coupled to an actuatable component, such as a portion of a roboticarm wrist, an end effector, or a robotic upper arm, depending on thelocation of the joint 600 on the robotic device.

The third driveshaft 606 is rotatably disposed within the fourthdriveshaft 608 as shown and has a third driven gear 614 fixedly orintegrally attached at its proximal end. The third driveshaft 606 issupported at its proximal end by third proximal bearing 644 and fourthproximal bearing 646, with the third bearing 644 being supported by thethird driven gear 614 and the fourth bearing 646 being supported by thefourth driven gear 616. At its distal end, the third driveshaft 606 isrotationally coupled to a third bevel gear 624, as best shown in FIGS.13, 14A, and 14B. According to one embodiment, the driveshaft 606 iscoupled to the gear 624 via a geometric coupling, and the driveshaft 606and gear 624 are constrained by a fourth distal bearing 656.

The third bevel gear 624 is rotatably coupled to a third intermediatebevel gear 684, as best shown in FIGS. 13, 14A, and 14B. Further, thebevel gear 684 is rotatably coupled to a second output bevel gear 692,which is rotationally coupled with or integral with the second (or“outer”) rotatable output member 674. The third intermediate bevel gear684 is supported by a fifth distal bearing 657. The second output bevelgear 692 is supported by a first output bearing 694 and a second outputbearing 696 in relation to the first output bevel gear 690. Thus,actuation of the motor (not shown) coupled to the third driven gear 614causes rotation of the third driven gear 614, which causes rotation ofthe third driveshaft 606. Rotation of the third driveshaft 606 causesrotation of the third bevel gear 624, which causes rotation of the thirdintermediate bevel gear 684 around an axis perpendicular to the axis ofrotation of the driveshafts 602, 604, 606, 608. And rotation of thethird intermediate bevel gear 684 causes rotation of the second outputbevel gear 692 around an axis parallel to the axis of rotation of thedriveshafts 602, 604, 606, 608, which causes rotation of the secondrotatable output member 674 around the same axis of rotation. It isunderstood that the second rotatable output member 674 is configured tobe coupled to an actuatable component, such as a portion of a roboticarm wrist, an end effector, or a robotic upper arm, depending on thelocation of the joint 600 on the robotic device.

The fourth driveshaft 608 is rotatably disposed around the thirddriveshaft 606 (and thus around the first and second driveshafts 602,604 as well) and has a fourth driven gear 616 fixedly or integrallyattached at its proximal end. The fourth driveshaft 608 is supported atits proximal end by the fourth proximal bearing 646 and a fifth proximalbearing 648 and, with the fourth bearing 646 being supported by thefourth driven gear 616 and the fifth bearing 648 being supported by anenclosure (not shown) of the joint 600. In addition, the fifth bearing648 is retained in place by a retaining ring 649. At its distal end, thefourth driveshaft 608 is rotationally coupled to or integral with afirst retaining member 700, as best shown in FIGS. 13, 14A, and 14B. Thefirst retaining member 700 has two arms 700A, 700B, as best shown inFIGS. 13 and 14A, wherein the rotatable cylinder 681 and attached firstintermediate bevel gear 680 are disposed between the two arms 700A,700B. Further, two bolts 702, 704 are positioned through the arms 700A,700B, respectively, and threaded into the rotatable cylinder 681. Thetwo bolts 702, 704 are radially supported by first and second boltbearings 706, 708, as best shown in FIG. 13. More specifically, the twobolts have heads 702A, 704A (as best shown in FIG. 13) sized to fitwithin the bearings 706, 708. The heads 702A, 704A are positioned incontact with (or “rest on”) washers 710, 712, respectively.

Thus, actuation of the motor (not shown) coupled to the fourth drivengear 616 causes rotation of the fourth driven gear 616, which causesrotation of the fourth driveshaft 608. Rotation of the fourth driveshaft608 causes rotation of the first retaining member 700 around an axisthat is parallel to the axis of rotation of the driveshafts 602, 604,606, 608. The rotation of the retaining member 700 causes rotation ofthe two arms 700A, 700B, which causes rotation of the two bolts 702,704, which causes rotation of the rotatable cylinder 681 and the entiredistal end of the joint 600 (distal to the bearing 648).

It is understood that the driven gears 610, 612, 614, 616 at theproximal end of the driveshafts 602, 604, 606, 608, respectively, areconfigured to be coupled to gears (not shown) that are driven by motors(not shown). In this specific exemplary figure, the motors andassociated gears have been omitted. According to one embodiment, themotors and associated gears could be configured in a fashion similar tothose depicted in FIG. 3B. Alternatively, any configuration of motorscan be used.

In this implementation, it is understood that the joint 600 providesfour degrees of freedom. For example, one degree of freedom isaccomplished via the coupling of the first driveshaft 602 to therotatable cylinder 681 and drive post 662 that results in rotation ofthe portion of the joint 600 distal to the first intermediate bevel gear680 around an axis of rotation perpendicular to that of the driveshafts602, 604, 606, 608. Another degree of freedom is accomplished via thecoupling of the second driveshaft 604 to the first (or “inner”)rotatable output member 672 that results in rotation of the outputmember 672 around an axis parallel to the axis of rotation of thedriveshafts 602, 604, 606, 608. A further degree of freedom is achievedby the coupling of the third driveshaft 606 to the second (or “outer”)rotatable output member 674 that results in rotation of the outputmember 674 around an axis parallel to the axis of rotation of thedriveshafts 602, 604, 606, 608. Finally, another degree of freedom isaccomplished via the coupling or integration of the fourth driveshaft608 to the first retaining member 700 that results in rotation of theentire distal end of the joint 600 (distal to the bearing 648) around anaxis that is parallel to the axis of rotation of the driveshafts 602,604, 606, 608.

In certain alternative embodiments, the joint 600 can also have anoptional passive retaining member (also referred to as a “secondretaining member”) 720. The passive retaining member 720 is typicallyincorporated in those embodiments in which the joint 600 is a wristjoint 600, but it can be incorporated into other types of joints aswell. In one specific example, the passive retaining member 720 could beused to couple the joint 600 to the end effector 320 depicted in FIGS.9A-9C. In accordance with one implementation, the passive retainingmember 720 provides a stationary foundation for the first and secondrotatable output members 672, 674. The retaining member 720 has achannel 722 defined on an outer surface of the member 720 that can beused to help with securing any flexible outer protection sleeves (notshown) thereto. The retaining member 720 is positioned over the boltheads 702A, 704A such that the bolt heads 702A, 704A help to retain themember 720 in its coupling with the joint 600, with first retainingmember bearing 724 and second retaining member bearing 726 serving asthe interface between the member 720 and the heads 702A, 704A.

In other embodiments, the joint 600 has no passive retaining member, asbest shown in FIG. 14A. In certain implementations, this is theconfiguration that is utilized when the joint 600 is a shoulder joint600, rather than a wrist joint.

Alternative joint implementations are best shown in FIGS. 15A-17D, inwhich the joints have four degrees of freedom while requiring only threemotors, as mentioned above. In certain implementations, the jointembodiments below can be incorporated into a wrist joint, while in otherimplementations, the joint embodiments below can be incorporated into ashoulder joint. As mentioned above, these three motor configurations arepossible because all three motors are coupled together in a shared statein which a fourth degree of freedom is realized. More specifically, thecoupling of the three motors can be accomplished in several ways,including by providing a braking force condition on one of the outputssuch that only deliberate commands will cause a robotic joint toactuate.

FIGS. 15A and 15B depict a cross-sectional front view of a joint 800according to one embodiment having a set of nested driveshafts (notshown) that are coupled to separate bevel gears as discussed below in aconfiguration similar to that described above with respect to FIGS.13-14B. While the actual nested driveshafts are not depicted in thisparticular implementation, it is understood that the driveshafts (notshown) are substantially similar to those described above with respectto FIGS. 13-14B. More specifically, in this embodiment, the joint 800has a set of three nested driveshafts, including a first (also referredto herein as “inner”) driveshaft (not shown), a second (also referred toas “middle”) driveshaft (not shown), and a third (also referred to as“outer”) driveshaft (not shown).

The first driveshaft (not shown) is rotationally coupled to a firstbevel gear 802, as best shown in FIGS. 15A, 15B, 16A, 16B, and 17A, suchthat rotation of the driveshaft (not shown) causes rotation of the firstbevel gear 802. According to one embodiment, the driveshaft (not shown)is coupled to the gear 802 via a geometric coupling, and the gear 802 isretained axially in relation to the driveshaft (not shown) by bolt 804which is threaded into the driveshaft (not shown). The driveshaft (notshown) and gear 802 are constrained in a first bearing 806, which isinset in second bevel gear 830, which is discussed below.

The first bevel gear 802 is rotatably coupled to a first intermediatebevel gear 810, as best shown in FIGS. 15A, 15B, 16A, 16B, and 17A, suchthat rotation of the first bevel gear 802 causes rotation of the firstintermediate bevel gear 810. The intermediate bevel gear 810 isrotatably coupled to first output bevel gear 812 such that rotation ofthe first intermediate bevel gear 810 causes rotation of the firstoutput bevel gear 812. The first intermediate bevel gear 810 is axiallyconstrained by second bearing 814, which is inset in third intermediatebevel gear 854. The first output bevel gear 812 is constrained by thirdand fourth bearings 816, 818, which are inset in the second output bevelgear 836. In addition, the first output bevel gear 812 is furtherconstrained where the gear 812 interfaces with the crossbar 856, whichis discussed in detail below, along with the fifth bearing 820 and theaxial bolt 822. The fifth bearing 820 rotationally separates (provides arotational interface between) first output bevel gear 812 from thecrossbar 856. The output bevel gear 812 is rotationally coupled to orintegral with a first generic output interface 824, which can couple toany component intended to be actuated. Alternatively, any type of knowncoupling component or interface can be coupled to or integral with thebevel gear 812.

Thus, actuation of the motor (not shown) coupled to the first driveshaft(not shown) causes rotation of the first driveshaft (not shown).Rotation of the first driveshaft (not shown) causes rotation of thefirst bevel gear 802, which causes rotation of the first intermediatebevel gear 810 around an axis perpendicular to the axis of rotation ofthe first bevel gear 802. And rotation of the first intermediate bevelgear 810 causes rotation of the first output bevel gear 812, whichcauses rotation of the first generic output interface 824 around thesame axis of rotation as the first bevel gear 802.

The second driveshaft (not shown) is rotationally coupled to a secondbevel gear 830, as best shown in FIGS. 15A, 15B, 16A, 16B, and 17B, suchthat rotation of the driveshaft (not shown) causes rotation of thesecond bevel gear 830. According to one embodiment, the driveshaft (notshown) is coupled to the gear 830 via a geometric coupling, and the gear830 is retained axially in relation to the driveshaft (not shown) inpart by the bolt 804 discussed above, which is threaded into the firstdriveshaft (not shown). According to one embodiment, the bolt 804compresses the first and second bevel gears 802, 830 such that axialmovement is minimized or prevented. The second driveshaft (not shown)and gear 830 are constrained in a sixth bearing 832, which is inset inthird bevel gear 850, which is discussed below.

The second bevel gear 830 is rotatably coupled to a second intermediatebevel gear 834, as best shown in FIGS. 15A, 15B, 16A, 16B, and 17B, suchthat rotation of the second bevel gear 830 causes rotation of the secondintermediate bevel gear 834. The intermediate bevel gear 834 isrotatably coupled to second output bevel gear 836 such that rotation ofthe second intermediate bevel gear 834 causes rotation of the secondoutput bevel gear 836. The second intermediate bevel gear 834 is axiallyconstrained by seventh bearing 838, which is disposed on the crossbar856, along with the threaded coupling of the bolt 840 with the crossbar856. The second output bevel gear 836 is constrained by the third andfourth bearings 816, 818, which are discussed above. The output bevelgear 836 is rotationally coupled to or integral with a second genericoutput interface 842, which can couple to any component intended to beactuated. Alternatively, any type of known coupling component orinterface can be coupled to or integral with the bevel gear 836.

Thus, actuation of the motor (not shown) coupled to the seconddriveshaft (not shown) causes rotation of the second driveshaft (notshown). Rotation of the second driveshaft (not shown) causes rotation ofthe second bevel gear 830, which causes rotation of the secondintermediate bevel gear 834 around an axis perpendicular to the axis ofrotation of the second bevel gear 830. And rotation of the secondintermediate bevel gear 834 causes rotation of the second output bevelgear 836, which causes rotation of the second generic output interface842 around the same axis of rotation as the second bevel gear 830.

The third driveshaft (not shown) is rotationally coupled to a thirdbevel gear 850, as best shown in FIGS. 15A, 15B, 16A, 16B, and 17C, suchthat rotation of the driveshaft (not shown) causes rotation of the thirdbevel gear 850. According to one embodiment, the driveshaft (not shown)is coupled to the gear 850 via a geometric coupling, and the gear 850 isretained axially in relation to the driveshaft (not shown) in part bythe bolt 804 discussed above, which is threaded into the firstdriveshaft (not shown). The third driveshaft (not shown) and gear 850are constrained in an eighth bearing 852, which is inset in theenclosure (not shown) of the joint 800, which is discussed below. In oneimplementation, a retaining ring 858 is disposed on the shaft of thethird bevel gear 850 such that the third bevel gear 850 cannot be movedaxially in relation to the eighth bearing 852.

The third bevel gear 850 is rotatably coupled to a third intermediatebevel gear 854, as best shown in FIGS. 15A, 15B, 16A, 16B, and 17C, suchthat rotation of the third bevel gear 850 causes rotation of the thirdintermediate bevel gear 854. The intermediate bevel gear 854 isrotationally coupled to or integral with a rotatable cylinder (alsoreferred to herein as a “crossbar”) 856 such that rotation of the thirdintermediate bevel gear 854 causes rotation of the rotatable cylinder856. The second intermediate bevel gear 834 is axially constrained bythe second 814 and seventh 838 bearings, which are both disposed on thecrossbar 856, along with the threaded coupling of the bolt 840 with thecrossbar 856. The crossbar 856 is rotationally coupled to the distalportion of the joint 800, which is the portion distal from the crossbar856, such that rotatable crossbar 856 causes rotation of the distalportion of the joint 800 around an axis perpendicular to the axis of thethird bevel gear 850. A distal enclosure 860, according to oneembodiment, is disposed over the distal portion of the joint 800. In oneimplementation, the distal enclosure 860 provides a sealing surface forany external sealing bag system such as those systems discussedelsewhere herein.

Thus, actuation of the motor (not shown) coupled to the third driveshaft(not shown) causes rotation of the third driveshaft (not shown).Rotation of the third driveshaft (not shown) causes rotation of thethird bevel gear 850, which causes rotation of the third intermediatebevel gear 854 around an axis perpendicular to the axis of rotation ofthe third bevel gear 850. And rotation of the third intermediate bevelgear 854 causes rotation of the crossbar 856, which causes rotation ofthe distal portion of the joint 800 around an axis of rotation that isperpendicular to the third bevel gear 850.

In addition to the three different degrees of freedom described abovewith respect to the first and second output bevel gears 812, 836 and therotatable crossbar 856, a fourth degree of freedom can be provided by asupport member (also referred to herein as a “spacing member”) 870 whichis positioned over a portion of the joint 800, as best shown in FIGS.15A, 15B, 16A, 16B, and 17D. More specifically, the support member 870has a first arm 872 and a second arm 874, with both arms having openings876, 878 configured to receive the heads of the bolts 840, 841 such thatthe retainer 870 constrains the heads of the bolts 840, 841, therebymaintaining the coupling and the spacing of the bevel sets (the couplingof the first bevel gear 802 and the first intermediate bevel gear 810,the coupling of the second bevel gear 830 and the second intermediatebevel gear 834, and the coupling of the third bevel gear 850 and thethird intermediate bevel gear 854). The arms 872, 874 have interfaces880, 882 that contact the third bevel gear 850 such that the retainer870 is rotatable in relation to the third bevel gear 850.

In certain implementations, the support member 870 makes it possible forthe joint 800 to use only three complex motors (typically very expensivecomponents) instead of four to allow for movement around four degrees offreedom. That is, the three expensive motors are coupled together in ashared state such that a fourth degree of freedom is realized. Forexample, the coupling can be accomplished by providing a braking system(in the form of a smaller, less complex, and inexpensive motor) on oneof the outputs such that only deliberate commands will cause the jointto actuate. In other words, the use of the simple motor for brakingmakes it possible to take advantage of the coupled nature of the bevelgear differential system.

In use, the various device embodiments disclosed or contemplated hereinare utilized to perform minimally invasive surgery in a target cavity ofa patient, such as, for example, the peritoneal cavity. In certainimplementations, with reference to FIG. 1A, the device body 12 ispositioned through an incision into the target cavity such that theshoulders 14, 16 and the arms attached thereto are positioned within thetarget cavity, with the shaft section 12B disposed through the incisionand the motor section 12A positioned outside the patient's body. Inthose implementations, the device body 12 is attached to some type ofsupport component outside the patient's body to provide stability andensure that the body 12 remains stationary when desired.

While multiple embodiments are disclosed, still other embodiments of thepresent invention will become apparent to those skilled in the art fromthe following detailed description, which shows and describesillustrative embodiments of the invention. As will be realized, theinvention is capable of modifications in various obvious aspects, allwithout departing from the spirit and scope of the present invention.Accordingly, the drawings and detailed description are to be regarded asillustrative in nature and not restrictive.

Although the present invention has been described with reference topreferred embodiments, persons skilled in the art will recognize thatchanges may be made in form and detail without departing from the spiritand scope of the invention.

1. (canceled)
 2. A robotic device comprising: (a) an elongate devicebody comprising: (i) a first driveshaft rotatably disposed within thedevice body, the first driveshaft comprising: (A) a first lumen definedalong a length of the first driveshaft; and (B) a first drive gearoperably coupled to the first driveshaft; (i) a second driveshaftrotatably disposed within the first lumen, the second driveshaftcomprising: (A) a second lumen defined along a length of the seconddriveshaft; and (B) a second drive gear operably coupled to the seconddriveshaft; and (iii) a third driveshaft rotatably disposed within thesecond lumen; (b) a first shoulder joint comprising: (i) a conversionbody operably coupled to at least one of the first, second, or thirddriveshafts; (ii) a rotation body rotatable in relation to theconversion body, the rotation body comprising first and second openings;(iii) an output gear; and (iv) a plurality of intermediate gearsoperably coupling the second drive gear to the output gear through thefirst and second openings in the rotation body; and (c) a first armoperably coupled to the first shoulder joint.
 3. The robotic device ofclaim 2, wherein the conversion body is a yoke body comprising: (a) ayoke shaft extending from the yoke body, wherein a longitudinal axis ofthe yoke shaft is transverse to a longitudinal axis of the firstdriveshaft; and (b) a yoke opening defined in the yoke shaft.
 4. Therobotic device of claim 3, wherein the third driveshaft is rotatablydisposed through the yoke opening, the third driveshaft being operablycoupled to a third drive gear.
 5. The robotic device of claim 4, whereinthe first and third drive gears are rotatably coupled to the rotationbody.
 6. The robotic device of claim 2, wherein at least one of thefirst drive gear and the second drive gear comprises a bevel gear.
 7. Arobotic device comprising: (a) an elongate device body comprising: (i) afirst driveshaft rotatably disposed within the device body; (i) a seconddriveshaft rotatably disposed within the device body, wherein the seconddriveshaft is operably coupled to a second driveshaft drive gear; and(iii) a third driveshaft rotatably disposed within the device body,wherein the third driveshaft is operably coupled to a third driveshaftdrive gear; (b) a first shoulder joint comprising: (i) a shoulderhousing operably coupled to at least one of the first, second, or thirddriveshafts, the shoulder housing comprising: (A) a top opening definedin the shoulder housing, the top opening comprising at least onecoupling feature, wherein the third driveshaft is disposed through thetop opening; (B) a side opening defined in the shoulder housing; and (C)a cavity defined in the shoulder housing, wherein the third driveshaftdrive gear is disposed within the cavity; and (ii) a rotation bodyrotatable in relation to the shoulder housing, the rotation bodycomprising first and second openings; (iii) a first driven gearrotatably coupled to the third driveshaft drive gear; (iv) a first outergear operably coupled to the first driven gear through the firstopening; (v) a second outer gear rotatably coupled to the first outergear; (vi) a second driven gear operably coupled to the second outergear through the second opening; and (vii) an output gear rotatablycoupled to the second driven gear; and (c) a first arm operably coupledto the first shoulder joint.
 8. The robotic device of claim 7, whereinthe first driveshaft is operably coupled to the at least one couplingfeature on the shoulder housing, whereby rotation of the firstdriveshaft causes rotation of the shoulder housing.
 9. The roboticdevice of claim 7, wherein the second driveshaft is disposed through thetop opening in the shoulder housing, and wherein the second driveshaftdrive gear is disposed within the cavity in the shoulder housing. 10.The robotic device of claim 9, wherein the second driveshaft drive gearis rotatably coupled to a third driven gear, wherein the third drivengear is operably coupled to the rotation body.
 11. The robotic device ofclaim 10, wherein at least one of the first driven gear, the seconddriven gear, and the third driven gear comprises a bevel gear.
 12. Arobotic device comprising: (a) an elongate device body sized andconstructed to be disposable through a port or an incision into a cavityof a patient, the elongate device body comprising a first set ofdriveshafts comprising: (i) a first driveshaft rotatably disposed withinthe device body, the first driveshaft comprising a first lumen extendingalong a length of the first driveshaft and a first drive gear operablycoupled to a distal end of the first driveshaft; (i) a second driveshaftrotatably disposed within the first lumen such that the seconddriveshaft is disposed within and coaxial with the first driveshaft, thesecond driveshaft comprising a second lumen extending along a length ofthe second driveshaft and a second drive gear operably coupled to adistal end of the second driveshaft; and (iii) a third driveshaftrotatably disposed within the second lumen such that the thirddriveshaft is disposed within and coaxial with the second driveshaft,the third driveshaft comprising a third drive gear operably coupled to adistal end of the third driveshaft; (b) a shoulder joint comprising: (i)a conversion body comprising an opening defined in the conversion body,wherein the third driveshaft is rotatably disposed through the opening;(ii) a rotation body comprising first and second openings; (iii) anoutput gear; and (iv) a plurality of intermediate gears operablycoupling the second drive gear to the output gear through the first andsecond openings in the rotation body; and (c) an arm operably coupled tothe output gear.
 13. The robotic device of claim 12, wherein the firstand third drive gears are rotatably coupled to the rotation body. 14.The robotic device of claim 12, wherein the elongate device bodycomprises a second set of driveshafts comprising: (a) a fourthdriveshaft rotatably disposed within the device body, the fourthdriveshaft comprising a fourth lumen extending along a length of thefourth driveshaft and a fourth drive gear operably coupled to a distalend of the fourth driveshaft; (b) a fifth driveshaft rotatably disposedwithin the fourth lumen such that the fifth driveshaft is disposedwithin and coaxial with the fourth driveshaft, the fifth driveshaftcomprising a fifth lumen extending along a length of the fifthdriveshaft and a fifth drive gear operably coupled to a distal end ofthe fifth driveshaft; and (c) a sixth driveshaft rotatably disposedwithin the fifth lumen such that the sixth driveshaft is disposed withinand coaxial with the fifth driveshaft, the sixth driveshaft comprising asixth drive gear operably coupled to a distal end of the sixthdriveshaft;
 15. The robotic device of claim 14, wherein the shoulderjoint is a first shoulder joint, wherein the robotic device furthercomprises a second shoulder joint comprising: (a) a conversion body ofthe second shoulder joint, the conversion body operably coupled to atleast one of the fourth, fifth, or sixth driveshafts; (b) a rotationbody of the second shoulder joint, the rotation body of the secondshoulder joint rotatable in relation to the conversion body of thesecond shoulder joint; (c) a plurality of second shoulder joint gears,wherein at least one of the plurality of second shoulder joint gears isoperably coupled to at least one of the fourth, fifth, or sixth drivegears; and (d) a second arm operably coupled to the second shoulderjoint.
 16. The robotic device of claim 12, wherein the rotation body isrotatable in relation to the conversion body.
 17. The robotic device ofclaim 12, wherein the output gear is rotatable around an axis parallelto a longitudinal axis of the first driveshaft.
 18. The robotic deviceof claim 12, wherein the conversion body further comprises a conversionbody shaft extending from the conversion body.
 19. The robotic device ofclaim 18, wherein a longitudinal axis of the conversion body shaft istransverse to a longitudinal axis of the first driveshaft.
 20. Therobotic device of claim 12, further comprising: (a) a first motoroperably coupled to the first driveshaft; (b) a second motor operablycoupled to the second driveshaft; and (c) a third motor operably coupledto the third driveshaft.